利用两侧边线空间几何关系的单幅图像圆柱位姿实时估计

贾昕宇; 夏晓华; 苗龙龙

doi:10.7652/xjtuxb202506018

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利用两侧边线空间几何关系的单幅图像圆柱位姿实时估计

—————————————————————— | 更新时间：2025-08-26

- 利用两侧边线空间几何关系的单幅图像圆柱位姿实时估计
- Real-Time Cylinder Pose Estimation from a Single Image via Bilateral Contour-Based Spatial Geometric Relationships
- 西安交通大学学报 2025年59卷第6期页码：177-184
- 作者机构：
  
  长安大学道路施工技术与装备教育部重点实验室， 710064，西安
- 作者简介：
  
  贾昕宇（2002—），男，硕士生；
  夏晓华，男，副教授，博士生导师。
- 基金信息：
  
  陕西省重点研发计划资助项目(2024GX-YBXM-197);陕西省交通运输厅科研资助项目(23-10X;24-74K)
- DOI：10.7652/xjtuxb202506018
  中图分类号： TP391
- 收稿：2024-12-26，
  
  网络首发：2025-02-28，
  
  纸质出版：2025-06-10
- 稿件说明：
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贾昕宇, 夏晓华, 苗龙龙. 利用两侧边线空间几何关系的单幅图像圆柱位姿实时估计[J]. 西安交通大学学报, 2025,59(6):177-184.

JIA Xinyu, XIA Xiaohua, MIAO Longlong. Real-Time Cylinder Pose Estimation from a Single Image via Bilateral Contour-Based Spatial Geometric Relationships[J]. Journal of Xi’an Jiaotong University, 2025, 59(6): 177-184.
贾昕宇, 夏晓华, 苗龙龙. 利用两侧边线空间几何关系的单幅图像圆柱位姿实时估计[J]. 西安交通大学学报, 2025,59(6):177-184. DOI： 10.7652/xjtuxb202506018.

JIA Xinyu, XIA Xiaohua, MIAO Longlong. Real-Time Cylinder Pose Estimation from a Single Image via Bilateral Contour-Based Spatial Geometric Relationships[J]. Journal of Xi’an Jiaotong University, 2025, 59(6): 177-184. DOI： 10.7652/xjtuxb202506018.

摘要

针对现有圆柱位姿估计方法多利用二维图像通过迭代优化的方式对三维空间中圆柱的位姿进行估计，并且未充分利用三维空间中二维像平面、投影中心和圆柱位姿之间的线性几何关系以及存在耗时长的问题，提出了一种利用两侧边线空间几何关系的单幅图像圆柱位姿实时估计方法。首先对圆柱图像进行镜头畸变校正并结合最小二乘法提取圆柱图像两侧边线方程，然后通过坐标变换求取其在相机坐标系中的解析表达，之后基于相机成像原理利用光心坐标构建圆柱切平面的几何表示，最后通过建立的基于切平面平移交会的圆柱轴线空间位姿计算方法获得圆柱位姿参数。实验结果表明，采用所提方法进行圆柱位姿估计的距离误差小于0.41 mm，角度误差小于0.39°，单次运算时间小于2 ms，在不降低位姿估计精度的同时，运算时间较目前速度最快的圆柱位姿估计方法节省了96%，大幅度提高了圆柱位姿估计速度，实现了对圆柱位姿的实时估计。

Abstract

Existing cylindrical pose estimation methods predominantly utilize 2D images to iteratively optimize the pose of a cylinder in 3D space

which fails to fully exploit the linear geometric relationships among the 2D image plane

projection center

and cylindrical pose in 3D space

resulting in time-consuming computations. To address this

this paper proposes a real-time cylindrical pose estimation method using a single image based on the spatial geometric relationships of the two lateral edge lines. The proposed method first corrected lens distortion for the cylindrical image and extracted the equations of the two lateral edge lines using the least squares method. Subsequently

the analytical expressions of these edge lines in the camera coordinate system were derived through coordinate transformation. Then

based on the camera imaging principle

the geometric representation of the cylindrical tangent planes was constructed using the optical center coordinates. Finally

the spatial pose parameters of the cylindrical axis were calculated through the proposed tangent plane intersection-based pose estimation algorithm. Experimental results demonstrated that the proposed method achieved a distance error of less than 0.41 mm

an angular error of less than 0.39°

and a single computation time of less than 2 ms. Compared with the fastest existing cylindrical pose estimation method

the proposed approach has reduced computation time by 96% without sacrificing estimation accuracy

significantly improving computational efficiency and enabling real-time cylindrical pose estimation.

关键词

Keywords

references

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