波浪水池中浮体运动的开源低成本单相机六自由度跟踪的实验验证
Experimental validation of an open-source low-cost single-camera 6-DOF tracking of floating-body motion in wave tanks
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中文总结 AI 辅助
本研究提出一种低成本开源单相机六自由度跟踪系统，经实验验证其在波浪水池中可实现亚毫米级精度，能为水动力实验提供非侵入式运动测量。
中文摘要 AI 辅助
在实验环境中精确测量浮式结构的运动既重要又颇具挑战性。本文提出了一种单相机六自由度运动跟踪系统，该系统成本低且便于为实验项目搭建。该系统采用基准标记物与开源计算机视觉工具来估计多标记几何体的位置与方向并进行跟踪。我们在精确控制的线性执行器上对该系统的精度与局限性进行了验证，涉及静态、规则及不规则运动三种情况。我们根据相机与标记物的距离、运动相对于相机平面的方向对系统性能进行了量化。此外，我们还给出了该系统在波浪水池中的实际应用案例。尽管运动方向垂直于相机平面时误差最大，但在相机与标记物的短距离及中等距离下，该系统可实现亚毫米级精度；在不规则运动验证中，最佳情况下位移的均方根误差（RMSE）约为0.5毫米。总体而言，结果表明，基于基准标记物的低成本单相机跟踪可为一系列水动力实验室实验提供足够精确且非侵入式的运动测量。
英文摘要
Accurately measuring motion of floating structures in experimental settings is both important and non-trivial. In this paper, we present a single-camera, 6-degree-of-freedom motion-tracking system that is both low-cost and simple to set up for an experimental campaign. The system uses fiducial markers and open-source computer vision tools to estimate the positions and orientations of multi-marker geometries and track them. We validate the accuracy and limitations on a precisely controlled linear actuator with static, regular, and irregular motion. The performance is quantified depending on both the camera-to-marker distance and direction of motion relative to the camera plane. Additionally, we present a practical use case for our system in a wave tank. Although the motion direction perpendicular to the camera plane shows the highest errors, the system achieves sub-millimeter accuracy at short and moderate camera-to-marker distances. For the irregular motion validation, the best cases reproduced the displacements with an RMSE of approximately 0.5 mm. Overall, the results indicate that low-cost single-camera fiducial-marker tracking can provide sufficiently accurate, non-intrusive motion measurements for a range of hydrodynamic laboratory experiments.
