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Acta Optica Sinica, Volume. 41, Issue 9, 0915001(2021)

Monocular Camera-Based Three-Point Laser Pointer Ranging and Pose Estimation Method

Song Gao and Lizhuo Bai*
Author Affiliations
  • Chengdu University of Technology, Chengdu, Sichuan 610059, China
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    AbstractGet PDF(in Chinese)
    Figures&Tables (17)
    Equations (0)
    References (22)
    Cited By (6)
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    Paper Information
    Topics
    Figures & Tables(17)
    Prototype of patrol robot

    Fig. 1. Prototype of patrol robot

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    Geometry of ranging model

    Fig. 2. Geometry of ranging model

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    Optimization process of ranging iteration

    Fig. 3. Optimization process of ranging iteration

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    Top view of model at yaw angle α

    Fig. 4. Top view of model at yaw angle α

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    Side view of model at yaw angle α

    Fig. 5. Side view of model at yaw angle α

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    Conversion diagram of 2D image plane

    Fig. 6. Conversion diagram of 2D image plane

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    Schematic of ranging experiment

    Fig. 7. Schematic of ranging experiment

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    Laser feature point image

    Fig. 8. Laser feature point image

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    Range error before iterative optimization

    Fig. 9. Range error before iterative optimization

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    Range error after iterative optimization

    Fig. 10. Range error after iterative optimization

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    Change curves of α

    Fig. 11. Change curves of α

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    Change curves of β

    Fig. 12. Change curves of β

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    • Table 1. Internal parameters of monocular camera

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      Table 1. Internal parameters of monocular camera

      ParameterDd=200 mmDd=300 mmDd=400 mm
      (u0,v0)(374.0713,247.3269)(375.0696,254.5587)(370.4775,261.5021)
      k1,k2,k3-0.4326,0.3485,-0.3550-0.4117,0.2202,-0.0455-0.4197,0.1801,0.0353
      p1,p20.000891,-0.000010.001667,-0.00156-0.00094,-0.00037
      f/dx,f/dy534.9416534.5830533.6267533.4545521.0727520.2335
      f·χ1.5086810.201046-1.24714
      ParameterDd=500 mmDd=600 mm
      (u0,v0)(372.8207,257.5171)(370.9425,257.2861)
      k1,k2,k3-0.4248,0.2323,0.0069-0.3971,0.0435,0.4982
      p1,p2-0.00079,0.00004-0.00014,0.000147
      f/dx,f/dy517.0429516.2078515.2002514.8023
      f·χ-1.22721-0.74539

    • Table 2. Technical parameters of Laika X3 handheld laser rangefinder

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      Table 2. Technical parameters of Laika X3 handheld laser rangefinder

      CategoryValue
      Measuring range /m0.05~150.00
      Accuracy of measurement /mm±1.0
      Minimum resolution /mm0.1

    • Table 3. Detection results of laser feature points

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      Table 3. Detection results of laser feature points

      Laser pointnumberAccuratecoordinateDetectedcoordinate
      A(375,187)(375.105,187.453)
      B(297,257)(296.639,256.806)
      C(448,253)(447.975,253.512)

    • Table 4. Ranging results of iterative method

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      Table 4. Ranging results of iterative method

      Actual distance /mmDd=200 mm /mmDd=300 mm /mmDd=400 mm /mmDd=500 mm /mmDd=600 mm /mmRangingresults afteriterativeoptimization /mmMaximumerror /mm
      200199.37194.11180.87179.69178.62199.370.63
      250248.54249.02241.12235.90234.33249.020.98
      300303.71300.61304.99318.98321.08300.610.61
      350354.98350.35353.11351.20358.12350.350.35
      400417.18408.72400.92407.88413.08400.920.92
      450464.60466.51451.77450.63453.72450.630.63
      500528.45527.81510.43500.53511.66500.530.53
      550594.74587.30579.51550.71552.92550.710.71
      600625.99622.03616.27613.05600.46600.460.46

    • Table 5. Measurement results of α angle

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      Table 5. Measurement results of α angle

      Measureddistance /mmP3P algorithmProposed algorithm
      Measuredangle /(°)Error /(°)Averageerror /(°)Measuredangle /(°)Error /(°)Averageerror /(°)
      5.280.284.680.32
      10.370.3710.390.39
      20015.190.190.35615.270.270.352
      20.320.3220.450.45
      25.620.6225.330.33
      5.610.615.180.18
      10.580.5810.230.23
      30014.670.330.56015.270.270.426
      20.520.5220.520.52
      24.240.7625.930.93
      4.770.235.210.21
      10.540.5410.360.36
      40015.350.350.53415.470.470.478
      20.720.7220.380.38
      25.830.8324.030.97
      5.630.635.330.33
      10.690.699.600.40
      50014.270.730.72814.490.510.498
      19.340.6620.620.62
      25.930.9325.630.63
      5.580.585.280.28
      10.560.5610.460.46
      60015.970.970.78815.570.570.532
      19.120.8819.520.48
      24.050.9524.130.87
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    Song Gao, Lizhuo Bai. Monocular Camera-Based Three-Point Laser Pointer Ranging and Pose Estimation Method[J]. Acta Optica Sinica, 2021, 41(9): 0915001

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    Paper Information

    Category: Machine Vision

    Received: Oct. 27, 2020

    Accepted: Dec. 1, 2020

    Published Online: May. 10, 2021

    The Author Email: Bai Lizhuo (buyleedraw@gmail.com)

    DOI:10.3788/AOS202141.0915001

    Topics

    laser devices and laser physics
    Lasers and Laser Optics
    Laser physics
    laser manufacturing
    Instrumentation, Measurement and Metrology