Broken-ray Videometric Method and System for Measuring the Three-dimensional Position and Pose of the Non-intervisible Object

The traditional videometrics technique is usually adopted to measure the relative position and pose between the intervisible objects, and is invalid for measuring the three-dimensional position, pose and deformation of the non-intervisible target. An innovative broken-ray videometrics method is proposed to resolve the non-intervisible measurement problem. Broken-ray path is constructed by relay-stations, each of which consists of camera(s) and/or marker(s). By processing the images sequence, the position, pose and real-time dynamic deformation can be measured, and then the errors subjected to the deformation can be compensated if needed. Finally, laboratory experiments are designed and implemented which show satisfactory accuracy. The broken-ray videometric system will play an important role in the crucial science and technology fields such as deformation measurement and dynamic analysis of large vessels, and deformation monitoring of tunnel country rock.