Real-time 6DoF algorithm precision measurement method and device

• Main Authors: CAI YANGHUA, LI PEIXIN, ZHANG XIAOYE, CHEN YUMING, YANG YINGYI, ZHU XIMENG, ZHENG PEIWEN, XIONG ZHI, XU QI
• Format: Patent
• Language: Chinese; English
• Published: 31.01.2023
• Subjects: CALCULATING; COMPUTING; COUNTING; ELECTRIC DIGITAL DATA PROCESSING; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; MEASURING; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS; MEASURING LENGTH, THICKNESS OR SIMILAR LINEARDIMENSIONS; PHYSICS; TESTING

The invention discloses a real-time 6DoF algorithm precision measurement method and device. The method comprises the following steps: obtaining to-be-measured image data after exposure adjustment; detecting the adjusted to-be-detected image data by using a 6DoF detection algorithm to obtain a corresponding first translation vector and a first rotation matrix; detecting the adjusted to-be-detected image data by using a ChArUco attitude estimation algorithm to obtain a corresponding second translation vector and a second rotation matrix; and based on the first translation vector, the first rotation matrix, the second translation vector and the second rotation matrix, determining a 6DoF attitude estimation error according to a preset error calculation formula. On the basis of utilizing a 6DoF detection algorithm, ChArUco is used for replacing a two-dimensional code to carry out indirect attitude estimation, so that the accuracy of a measurement result is ensured. 本发明公开了本发明提供了一种实时6DoF算法精度测量方法及装置，方法包括：获取曝光调整后的待测图像