A Structured Light System for Relative Navigation Applications
A Structured Light System for Relative Navigation Applications
复制标题
用于相对导航应用的结构光系统
DOI：
10.1109/jsen.2016.2585438
复制
发表时间：
2016
影响因子：
4.3
通讯作者：
M. Majji
中科院分区：
文献类型：
--
作者：
X. Wong;M. Majji
提出了与相对导航系统相关联的技术细节，该相对导航系统使用由放置在目标车辆平台上的已知位置处的结构光信标形成的图像。沿着讨论了生成信标照明特征的自动化手段以及与摄像机同步和信标识别过程相关联的数字逻辑。相对姿态估计公式，它示出，通过使用图像形成模型，平移矢量可以表示在有关的帧贴在目标和相机的方向矩阵的元素。通过利用凯莱变换，相对姿态估计问题被证明是减少到一组二次方程，是服从有效的数值解和合理的不确定性量化。开发了一个工程试验板原型传感器来演示结构光传感器的工作原理。的传感器和相对姿态估计算法的实现的性能进行基准比较的实验结果对标准的方法，使用良好的校准目标的姿态估计。
Technical details associated with a relative navigation system that uses the images formed by structured light beacons placed at known locations on the target vehicle platform are presented. Automated means of generating illumination signatures for the beacons are discussed along with the digital logic associated with camera synchronization and beacon identification processes. Relative pose estimation formulations are presented and it is shown that, by using the image formation model, the translation vector can be expressed in terms of the elements of the orientation matrix relating the frames affixed to the target and the camera. By utilizing the Cayley transform, the relative pose estimation problem is shown to reduce to a set of quadratic equations that are amenable to efficient numerical solution and reasonable uncertainty quantification. An engineering breadboard prototype sensor is developed to demonstrate the workings of the structured light sensor. The performance of the sensor and the relative pose estimation algorithm implementation is benchmarked by comparing the experimental results against standard methods that use well-calibrated targets for pose estimation.