Efficient monocular vision method used for measuring the angular rate and acceleration in rotation motion

摘要

The rotation motion is one of the most basic dynamic units, whose accurate measure-ment is essential to the aspects of inertial navigation, mechanical manufacturing, robot control. Currently, the laser interferometry (LI), the sensor-based and autocollimator-based methods are commonly applied to the rotation motion measurement. However, they are always difficult to meet the requirements of high-accuracy measurement and wide frequency range. In this study, a novel monocular vision-based measurement method is investigated, which determines the angular rate and angular acceleration by using the improved line segmentation detector (LSD) method with sub-pixel accuracy and simultaneously improves the measurement accuracy and frequency range. Additionally, its hardware implementation only requires a simple and flexible vision measurement system. Several comparison experiments with the LI and grating sensor-based method demonstrate that the investigated method can obtain the measurement resolution of 0.0005° and accuracy of 0.480% in the range from 0.001 to 10 Hz.