管内机器人视觉技术的成象理论

The Imaging Theory of the Visual Technology of the Inner Pipe Robot

阐述了作者研究的管内壁环视光学装置的成象理论，给出了物空间到象空间的变换矩阵．分析了该装置的几何参数对视觉成象质量的影响，为推广该项技术提供了设计依据．

Accounting the imaging theory of a circle-viewing optical device applied in a inner pipe robot, the trans formation matrix between the object space and the image space is presiented.The process how the geometric parameter affect the Auging guality is analized and some derign criteria are put forward for promoting this technology.