Modeling and Compensation of Dynamic Effects in Camera-Based Position Measurement
Modeling and Compensation of Dynamic Effects in Camera-Based Position Measurement
复制标题
基于相机的位置测量中动态效应的建模和补偿
DOI：
10.1016/j.robot.2014.04.003
复制
发表时间：
2014
影响因子：
4.3
通讯作者：
Loïc Cuvillon
中科院分区：
文献类型：
--
作者：
Edouard Laroche;Shingo Kagami;Loïc Cuvillon
相机用作基于相机的控制或计量的位置传感器，目标是估计某些标记或特征的位置。当这些标记之一在曝光时间内发生显着位移时，由于动态效果变得有效，图像处理提供的测量结果不能被视为实际轨迹的样本。在本文中，提出了可以准确再现相机提供的测量结果的模型。考虑各种情况：完全或部分暴露时间；具有全局快门模式或卷帘快门模式。全局快门情况下的实验评估显示了模型的准确性。当需要重建设备的连续时间轨迹时，可以使用这些基于相机的位置测量的精确模型来改进相机提供的轨迹。提出了一种基于混合卡尔曼滤波器的方法来解决这个普遍问题。基于受心脏运动重建问题启发的真实图像，对全局快门情况进行了实验评估。
Cameras are used as position sensors for camera-based control or metrology, the goal being to estimate the position of some markers or features. When one of these markers has significant displacement over the exposure time, the measurement delivered by image processing cannot be considered as a sample of the actual trajectory as dynamic effects become effective. In this paper, models are proposed that allow to reproduce accurately the measurements provided by a camera. Various cases are considered: with full or partial exposure time; with global shutter mode or rolling shutter mode. An experimental evaluation in the global shutter case shows the accuracies of the models.When the continuous-time trajectory of a device needs to be reconstructed, these accurate models of the camera-based position measurement can be used in order to improve the trajectory provided by the camera. A methodology based on a hybrid Kalman filter is proposed to solve this general issue. An experimental evaluation is provided for the global shutter case, based on real images inspired from the problem of heart motion reconstruction.