分步光束法平差多目视觉测量系统

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关键词：多目视觉测量;分步光束法平差；空间重投影误差；现场可编程门阵列中图分类号：TB96 文献标识码：Adoi：10. 37188/OPE.20253323.3618 CSTR：32169.14.OPE.20253323.3618

Abstract： Due to its high measurement accuracy，rapid acquisition speed， large measurable range，and non-contact characteristics，the multi-camera vision measurement system has been widely applied to highprecision spatial positioning of dynamic targets in aerospace，automotive，and related fields. However，existing multi-camera vision measurement systems based on bundle adjustment cannot simultaneously satisfy the strigent requirements of high accuracy and high speed in thre-dimensional reconstruction of dynamic target positions. In this study，a reconstruction algorithm for multi-camera vision measurement systems based on stepwise bundle adjustment is proposed. System parameters with diferent orders of magnitude are optimized sequentially，and the rapid execution of the reconstruction algorithm is implemented on an field-programmable gate array （FPGA） platform. Experimental results demonstrate that the proposed stepwise bundle adjustment reconstruction algorithm achieves an average spatial reprojection error of less than 68μm ，outperforming both the direct linear transformation reconstruction algorithm and the conventional bundle adjustment reconstruction algorithm. The designed FPGA hardware architecture attains a processing speed of approximately 4O frame/s for four channels of high-definition image data （ 2048× （204号 2 048×8 bit） simultaneously，thereby meeting the real-time，high-precision measurement requirements for the spatial positioning of dynamic targets.

Key Words： multi-camera vision measurement； stepwise bundle adjustment； spatial reprojection error;Field-Programmable Gate Array（FPGA）

1引言

空间动态目标测量技术在航空、航天、航海、汽车制造等工业领域的飞行器、卫星、船舶及车辆的姿态和轨迹的控制优化、精度提高、效率升级和安全保障等方面具有重要作用。（剩余13198字）