提出一种从序列图像中自动跟踪测量目标位置和姿态参数的方法。利用单应性原理和上一帧图像中目标位姿参数的测量结果,将目标上的典型平面区域重建为同时含有几何信息和亮度信息的平面区域模板;然后根据投影方程,将该模板在一定的位置姿态参数下进行投影仿真成像,当模板的仿真成像结果与当前帧图像中的该平面区域达到最佳匹配时,认为此时仿真成像的位置姿态参数即为当前帧图像的测量结果。通过对该匹配问题进行最优化建模和求解,实现了序列图像中目标位姿参数的自动测量。实验结果表明,本文方法能够在序列图像中对含有典型平面区域的目标实现较高精度的自动跟踪测量。

An automatic method for the measurement of an object's position and attitude in an image sequence is proposed. First, a 2D template of an object's planar region is reconstructed with brightness and the real geometry size, by using the homographies and measurement results from the previous frame image; second, with different position and attitude parameters, the template is projected onto the image plane through the imaging formulations. When the template's projection matches the object region of the current frame properly, the position and attitude parameters are considered to be the measurement results in the current frame image. An optimization model is built and solved to achieve the measurement for the object's position and attitude. The experiments show that the method can measure the position and attitude of an object involving a typical planar region automatically from image sequences.