Patent ID: 8405716

Claim:
A folding optical path transfer videometrics method for measuring the three-dimensional position and attitude of non-intervisible objects, the method comprising: constructing a folding optical path between the measuring reference and the non-intervisible measured target to dodge obstacles, wherein a reference platform comprises a starting point and the measured target comprises a terminal point and the folding optical path comprises at least one turning point; setting measurement relaying stations, each measurement station comprising at least one of a camera, a cooperative marker, and a laser rangefinder, on the starting point, the terminal point, and the at least one turning point of the folding optical path mentioned above, wherein neighboring relaying stations are intervisible; calibrating installing parameters of each relaying station, wherein the installing parameters comprises at least one of positional and attitude relations among cooperative markers, cameras and laser rangefinders in a certain relaying station; setting synchronous triggering systems of all the cameras and laser rangefinders; obtaining a three-dimensional position and an attitude of each neighboring relaying station relative to one another, by viewing the cooperative marker in the neighboring relaying station using the camera and measuring the distance using the laser rangefinder; obtaining a second three-dimensional position and a second attitude of the measuring target relative to the measuring reference by relaying measurement information from the starting point to the terminal point of via folding optical path, wherein a rotation matrix R i,i+1 and a translation vector T i,i+1 are used to describe the relative three-dimensional position and attitude respectively between a relaying station S i at a level i and a relaying station S i+1 at a level i+1, wherein a rotation matrix R 0,n and a translation vector T 0,n is used to describe the three-dimensional position and attitude of the measured target relative to the measuring reference, after each parameter R i,i+1 and T i,i+1 has been obtained by a camera capturing images and a laser rangefinder measuring distance, and wherein the algorithm for calculating the three-dimensional position and attitude of the measured target relative to the measuring reference by relaying measurement information from the measuring reference (starting point, relaying station at the level 0) to the measured target (terminal point, relaying station at level n) is: R 0 , n = ∑ i = 0 n - 1 ⁢ R i , i + 1 T 0 , n = T n - 1 , n + ∑ i = 0 n - 2 ⁢ ( T i , i + 1 ⁢ ∏ j = i + 1 n - 1 ⁢ ⁢ R j , j + 1 ) .