PDF
Full
Outline
In monocular vision-guided high-precision inter-platform pose measurement, existing methods require an accurate 3D model of the target platform and are unable to eliminate the impact of 3D model errors on pose measurement.To address this issue, iterative optimization was performed on the 3D model of the target platform and pose, and a new monocular vision measurement method was proposed.Specifically, the target platform′s 3D model was modeled using a set of sparse 3D keypoints.By leveraging multi-view geometric constraint information in sequential images, the sparse 3D keypoint set of the target and 6D pose were treated as parameters to be solved.An objective function was established to minimize object-space residuals, and through solving this optimization problem, iterative optimization of the sparse 3D keypoint set and pose was achieved.Additionally, a sliding window combined with a keyframe selection strategy was adopted to realize real-time and online high-precision monocular vision measurement.Experimental results demonstrate that, through iterative optimization of the sparse 3D keypoint set and pose, the proposed method achieves real-time, online high-precision monocular pose measurement under the condition of an inaccurate 3D model of target platform, while simultaneously improving the accuracy of the target′s 3D model.
PDF
165
82
| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
关闭全屏
No. 86 Xueyuan South Road, Haidian District, Beijing
010-62199257
qkjq@cast.org.cn
Copyright © 2025 China Association for Science and Technology. All rights reserved. For all open access content, the relevant licensing terms apply.
Sponsored by the Office of the Leading Group for Cybersecurity and Informatization of CAST, and supported by Science and Technology Review Publishing House
