摘要
建立了摄像机坐标系 ,轮式移动机器人车体坐标系以及目标物体 (世界坐标系 )之间的位姿关系模型 ,着重论述了摄像机与轮式移动机器人车体之间的坐标变化关系 ,并求出了其变换矩阵Mct.通过此变换矩阵Mct能进一步求取目标物体在车体坐标系下的深度值及车体的运动参数 ,从而为车体提供导航与定位的依据 .
The model of pose relation among the coordinate axis of the camera, the vehicle body of the movable robot and the aim object i.e. the coordinate axis of the world is built and the transformation relation between the camera and the vehicle is also explored in detail. At the same time, the transformation matrix M ct between the camera and the vehicle has been calculated.Through this matrix M ct ,the deepth of the aim object under the vehicle coordinate axis and the mobile parameters can be calculated so as to provide foundation for the navigation and location of the vehicle.
出处
《兰州铁道学院学报》
2001年第4期17-20,共4页
Journal of Lanzhou Railway University
基金
甘肃省自然科学基金资助项目 (ZR -96 -0 36 )
