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| 基于偏振图像处理的塔机位姿估计方法 |
| Research on Tower Crane Pose Estimation Based on Polarization Image Processing |
| 投稿时间：2024-06-21 修订日期：2024-09-30 |
| DOI： |
| 中文关键词: 塔机位姿估计 偏振成像 光照变化 视角变化 |
| 英文关键词: tower crane pose estimation polarization imaging illumination variation view angle variation |
| 基金项目:安徽省自然科学基金能源互联网联合基金项目 (2008085UD09) 、安徽省住房城乡建设科学技术计划项目 (2022-YF016) |
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| 中文摘要: |
| 塔机位姿的实时获取，对于预防塔机安全事故的发生具有重要意义。将相机固定在塔机顶端，可通过求取相机位姿来估计塔机位姿。但在光照变化及较大背景噪声等复杂环境下，基于特征点的相机位姿估计存在精度较低等问题。基于此，本文提出了一种基于偏振图像处理的塔机位姿估计方法。首先使用张正友标定法求得相机内参，然后设计靶标并使用连接点法实现图像去畸变，最后通过偏振图像估计塔机位姿。实验结果证明，拍摄距离为30m时，对场景进行不同光照和视角的偏振图像获取与解析，本文提出的偏振方法相比光强图像具有更高的精度，位姿平均误差为1.34%，能够满足实际工程应用要求。 |
| 英文摘要: |
| The real-time acquisition of tower crane pose is of great significance for the prevention of tower crane safety accidents. When the camera is fixed on the top of the tower crane, the pose of the camera can be estimated by calculating the pose of the camera. However, in complex environments such as lighting variations and large background noise, feature point-based camera position estimation suffers from problems such as low accuracy. Based on this, a method of tower crane pose estimation based on polarization image processing is proposed in this paper. Firstly, the camera's internal parameters are obtained by using Zhang Zhengyou's calibration method; then the target is designed and the image is de-distorted by using the connection point method; finally, the pose of tower crane can be obtained by polarization image. The experimental results show that, when the shooting distance is 30m, the polarization image of the scene is acquired and analyzed with different illumination and viewing angle, and the polarization method proposed in this paper has higher accuracy than the light intensity image, the average position error is 1.34%, which can meet the requirements of practical engineering applications. |
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