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

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中图分类号：TP391 文献标志码：A

DOI： 10.7652/xjtuxb202506018 文章编号：0253-987X（2025）06-0177-08

Real-Time Cylinder Pose Estimation from a Single Image via Bilateral Contour-Based Spatial Geometric Relationships

JIA Xinyu， XIA Xiaohua，MIAO Longlong （Key Laboratory of Road Construction Technologyand Equipment of MOE，Chang'an University，Xi'an71oo64，China）

Abstract：Existing cylindrical pose estimation methods predominantly utilize 2D images to iteratively optimize the pose of a cylinder in 3D space，which fails to full 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. 41mm ，an angular error of less than 0.39∘ ，and a single computation time of less than 2ms . 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.

Keywords： pose estimation; cylinder; spatial geometric relationships； cylindrical edge; single image;real time

圆柱体作为一种常见三维几何结构，在航空航天、船舶制造、电力、化工、运输、精密加工等诸多工业领域都有着广泛应用。（剩余13187字）