Chinese Journal of Lasers, Volume. 50, Issue 14, 1404005(2023)
Ground Target Location Method Under Fixed Installation of Inertial Measurement Unit and Camera
Figures & Tables(13)
Fig. 1. Coordinate systems. (a) Spatial coordinate systems; (b) camera coordinate system and image coordinate system
Fig. 3. Relationship between number of iterations of RANSAC and proportion of outliers
Fig. 5. Target location error under different pixel error. (a) 4-point algorithm; (b) 5-point algorithm
Fig. 6. Target location error under different rotation error. (a) 4-point algorithm; (b) 5-point algorithm
Fig. 7. Target location error under different location error of platform. (a) 4-point algorithm; (b) 5-point algorithm
Fig. 8. Target location error under different rotation angle error with pixel error standard deviation of 0.1 pixel
Fig. 9. Target location error under different location error of platform with pixel error standard deviation of 0.1 pixel and rotation error standard deviation of 0.1°. (a) 4-point algorithm; (b) 5-point algorithm
Table 1. Algorithm flow
View tableTable 1. Algorithm flow
Algorithm Global optimal location algorithm based on laser ranging Application Long distance, large inclination, small intersection angle, and other limited observation conditions Input Images, rotation angles, internal parameter, external parameter matrix of the first frame Output Target location 1 Feature points extraction and matching of two neighboring frames 2 Establish Eq. (7) with 4 corresponding points and 1 rotation angle3 Calculate essential matrix based on Gröbner basis 4 Get rotation matrix and translation vector by singular value decomposition of 5 Repeat steps 2-4 with RANSAC 6 Determine pose estimation between neighboring frames 7 Use Eq. (10) to calculate projection matrixof each frame 8 Use Eq. (11) to intersect location of target
Table 2. Flight test parameters
View tableTable 2. Flight test parameters
Group 1 2 3 Intersection angle /（°） 53.9700 24.0266 24.3597 Number of images 16 17 34
Table 3. Location results
View tableTable 3. Location results
Method Result Group 1 2 3 4-point Target location error /m 10.7462 68.1229 42.8668 Iterations 784 443 2524 Threshold 1×10-12 1×10-12 1×10-12 5-point Target location error /m 317.0942 327.7238 225.5647 Iterations 1415 1146 3733 Threshold 1×10-12 1×10-12 1×10-12
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Chen Chen, Banglei Guan, Yang Shang, Zhang Li, Qifeng Yu. Ground Target Location Method Under Fixed Installation of Inertial Measurement Unit and Camera[J]. Chinese Journal of Lasers, 2023, 50(14): 1404005
Paper Information
Category: Measurement and metrology
Received: Dec. 13, 2022
Accepted: Feb. 10, 2023
Published Online: Jul. 10, 2023
The Author Email: Guan Banglei (banglei.guan@hotmail.com), Shang Yang (shangyang1977@nudt.edu.cn)
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