Displacement measurement of large structures using nonoverlapping field of view multi‐camera systems under six degrees of freedom ego‐motion

Abstract

AbstractIn this work, a non‐overlapping field of view (FOV) multi‐camera system (MCS) has been proposed to realize the motion self‐compensation, which can be flexibly arranged according to the field situation. The challenges of ensuring a complete fixed measurement platform owing to the self‐weight, unexpected collisions, and adjacent engineering constructions have been addressed in this study. MCS can be fixed on an unstable platform and employ two or more correcting cameras, without an overlapping FOV, to measure and compensate the six degrees of freedom (6‐DOF) ego‐motion of the platform, with high accuracy. The numerical simulation results show that, under the same configuration conditions, the 6‐DOF motion estimation accuracy of the proposed method is better than that of the Perspective‐n‐Points methods, especially for the estimation accuracy of the out‐of‐plane motion and the roll motion of the camera. The field demonstration has been performed on a suspension bridge, and the results demonstrate that the deflection measurements provided by the proposed MCS are consistent with those provided by the Robotic Total Station. The proposed MCS, which is not restrained by a strictly stable platform, proves to be an effective method to compensate for the errors induced by the platform ego‐motion, and it can meet the requirements of the displacement measurement of large structures needing high precision.