Precision relative pose estimation at close range using single camera and laser range finder

Hailiang Wang; Maosheng Xiang; Hongjian You; Lideng Wei; Yirong Wu

doi:10.1117/12.811857

2 February 2009 Precision relative pose estimation at close range using single camera and laser range finder

Hailiang Wang, Maosheng Xiang, Hongjian You, Lideng Wei, Yirong Wu

Proceedings Volume 7160, 2008 International Conference on Optical Instruments and Technology: Optoelectronic Measurement Technology and Applications; 71601A (2009) https://doi.org/10.1117/12.811857
Event: International Conference of Optical Instrument and Technology, 2008, Beijing, China

Abstract

As in close-range photogrammetry, space resection method is very frequently used in obtaining the exterior orientation data of a single photograph by applying the collinearity equation, but it has relatively poor accuracy in determining the line-of-sight component, especially in the condition the camera has a small field of view (FOV). This paper proposes a new solution for relative pose estimation of a setup consisting of a single camera, a Laser Range Finder (LRF), three optical targets and a array of cube-corner reflectors. These optical targets are installed properly on the target object as control points; the reflectors array is also fixed on the target object to make sure that sufficient signal energy could be returned to the Laser Range Finder. Rotations of the target object produce some errors in the measurements of LRF, so if we want to get the precise data of the line-of-sight component, the two-dimensional position in the array plane must be determined where the signal is returned from. In this paper we develop a method to solve the problem coupling with the pose data obtained from photogrammetry. We derive a new collinearity equation form and improve the one photograph space resection algorithm for the target object pose estimation relative to the camera or LRF. Simulation experiment results show that the algorithm can converge to a precision data during about 3 times least-squares iteration; the accuracy of position data achieve the level of sub-millimeter; and the RMS error of attitude data is less than 50 arcseconds.

Citation Download Citation

Hailiang Wang, Maosheng Xiang, Hongjian You, Lideng Wei, and Yirong Wu "Precision relative pose estimation at close range using single camera and laser range finder", Proc. SPIE 7160, 2008 International Conference on Optical Instruments and Technology: Optoelectronic Measurement Technology and Applications, 71601A (2 February 2009); https://doi.org/10.1117/12.811857

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available