Plane Pose Measurement Method Based on Monocular Vision and Checkerboard Target

Fig. 7. Error of dynamic measurement when distance is 3 m. (a) Measured reference value; (b) errors of outer frame; (c) errors of middle frame; (d) errors of inner frame

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Fig. 8. Error of dynamic measurement when distance is 4.5 m. (a) Measured reference value; (b) errors of outer frame; (c) errors of middle frame; (d) errors of inner frame

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Table 1. Results of simulation experiment(°)

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Table 1. Results of simulation experiment(°)

No.	Input value			Measured value			Error
No.	θ	ψ	ϕ	θ	ψ	ϕ	θ	ψ	ϕ
1	1	2	3	0.99	2.05	3.01	-0.01	0.05	0.01
2	3	6	9	3.01	5.97	9.03	0.01	-0.03	0.03
3	5	10	15	4.97	10.04	14.97	-0.03	0.04	-0.03
4	7	14	21	7.05	14.04	21.02	0.05	0.04	0.02
5	9	18	27	9.05	18.05	27.03	0.05	0.05	0.03

Table 2. Results of theoretical experiment(°)

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Table 2. Results of theoretical experiment(°)

No.	Input value			Measured value			Error
No.	θ	ψ	ϕ	θ	ψ	ϕ	θ	ψ	ϕ
1	1	2	3	1.00001	2.00000	3	0.00001	0	0
2	3	6	9	3.00001	5.99999	9	0.00001	-0.00001	0
3	5	10	15	5.00001	9.99998	15	0.00001	-0.00002	0
4	7	14	21	7.00000	14.00000	21	0	0	0
5	9	18	27	9.00000	18.00000	27	0	0	0

Table 3. Static experimental results under different poses(°)

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Table 3. Static experimental results under different poses(°)

No.	Standard value			Measured value			Error
No.	θ	ψ	ϕ	θ	ψ	ϕ	θ	ψ	ϕ
1	5.00	40.00	0.00	4.97	39.95	0.01	-0.03	-0.05	0.01
2	10.00	30.00	30.00	10.03	30.04	30.02	0.03	0.04	0.02
3	20.00	20.00	60.00	20.04	19.98	60.01	0.04	-0.02	0.01
4	30.00	10.00	130.00	29.96	9.96	130.02	-0.04	-0.04	0.02
5	40.00	0.00	170.00	40.05	0.03	169.99	0.05	0.03	-0.01

Table 4. Static experimental results under same poses(°)

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Table 4. Static experimental results under same poses(°)

No.	Error				No.	Error
No.		θ	ψ	ϕ		θ	ψ	ϕ
1	0.02	0.02	-0.00		6	-0.02	0.03	-0.00
2	-0.05	-0.05	-0.00		7	0.02	0.02	-0.00
3	0.03	-0.02	0.01		8	-0.01	-0.02	0.01
4	0.04	0.04	0.01		9	0.02	0.04	0.01
5	0.02	-0.01	-0.01		10	-0.03	-0.05	0.01

Table 5. Error distribution of static experimental results under same poses(°)
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Table 5. Error distribution of static experimental results under same poses(°)
Average error Maximum absolute error Standard deviation
θ 0.00 0.05 0.03
ψ 0.00 0.05 0.03
ϕ 0.00 0.01 0.01

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Jiandong Su, Xiaohui Qi, Xiusheng Duan. Plane Pose Measurement Method Based on Monocular Vision and Checkerboard Target[J]. Acta Optica Sinica, 2017, 37(8): 0815002

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