Laser & Optoelectronics Progress, Volume. 60, Issue 19, 1912001(2023)
Analysis and Application of Pose Mapping from Spatial Line Vector to Projection Plane
Figures & Tables(5)
Fig. 1. Composition of relative pose relationship of characteristic straight line
Fig. 2. Experimental results. (a) Yaw angle processing; (b) pitch angle processing; (c) roll angle processing
Table 1. Substation position, target trajectory, and pose angle (Ψ and φ) setting
View tableTable 1. Substation position, target trajectory, and pose angle (Ψ and φ) setting
Project X /m Y /m Z /m Ψ /（°） φ /（°） Substation 1 50 0 -1700 — — Substation 2 50 0 1700 — — Ballistic point 1 0 0. 0 1 25 Ballistic point 2 25 0.4 10 1 20 Ballistic point 3 50 0.9 15 1 15 Ballistic point 4 75 1.3 20 1 10 Ballistic point 5 100 1.7 25 1 1
Table 2. Projection angle of substation α1 and α2
View tableTable 2. Projection angle of substation α1 and α2
Key point α1 α2 Ballistic point 1 1.13 2.01 Ballistic point 2 1.22 1.92 Ballistic point 3 1.31 1.83 Ballistic point 4 7.68 1.75 Ballistic point 5 7.84 1.59
Table 3. Comparison between analog vector and reconstructed vector
View tableTable 3. Comparison between analog vector and reconstructed vector
Key point L L′ l m n l′ m′ n′ Ballistic point 1 0.906 0.422 0.015 0.906 0.422 0.015 Ballistic point 2 0.939 0.342 0.016 0.939 0.342 0.016 Ballistic point 3 0.966 0.258 0.016 0.966 0.258 0.016 Ballistic point 4 0.985 0.173 0.017 0.985 0.173 0.017 Ballistic point 5 0.999 0.018 0.017 0.999 0.018 0.017
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Xiaoli Hu, Minggang Tang, Biao Liu, Xutong He, Le Zhang, Yu Wang. Analysis and Application of Pose Mapping from Spatial Line Vector to Projection Plane[J]. Laser & Optoelectronics Progress, 2023, 60(19): 1912001
Paper Information
Category: Instrumentation, Measurement and Metrology
Received: Mar. 24, 2022
Accepted: Jun. 15, 2022
Published Online: Sep. 20, 2023
The Author Email: Minggang Tang (scu993@163.com)
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