Feng Liu, Yinghua Guo, Lin Wang, Peipei Gao, Yuetong Zhang. Monocular spatial attitude measurement method guided by two dimensional active pose[J]. Infrared and Laser Engineering, 2024, 53(2): 20211026
- Infrared and Laser Engineering
- Vol. 53, Issue 2, 20211026 (2024)
Fig. 1. Schematic diagram of monocular attitude measurement
Fig. 2. Eye calibration model
Fig. 3. Relationship between output angle of inclinometer and euler angle
Fig. 4. Correlation coordinate system relationship of inclinometer
Fig. 5. Experimental device diagram
Fig. 6. A partial checkerboard image collected
Fig. 7. Calibration error line chart of pitch angle and roll angle
Fig. 8. (a) Two images from the checkerboard position near +15°; (b) Two images from the checkerboard position near +5°; (c) Two images from the checkerboard position near −15°
Fig. 9. (a) The measured value and true value of pitch angle; (b) Measured value and true value of roll angle
Fig. 10. [in Chinese]
Fig. 10. (a) Pitch angle measurement error line chart; (b) Roll angle measurement error line chart; (c) Pitch angle measurement relative error line chart; (d) Roll angle measurement relative error line chart
Fig. 11. The line chart of measured distance and two inclination errors
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Table 1. System calibration parameter
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Table 2. Checkerboard attitude angle measurements near −10°
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