摘要
设计了一种基于场景中单个景物点的机器人手眼关系标定方法.精确控制机械手末端执行器做5次以上平移运动和2次以上旋转运动,摄像机对场景中的单个景物点进行成像.通过景物点的视差及深度值反映摄像机的运动,建立机械手末端执行器与摄像机两坐标系之间相对位置的约束方程组,线性求得摄像机内参数及手眼关系.标定过程中只需提取场景中的一个景物点,无需匹配,无需正交运动,对机械手的运动控制操作方便、算法实现简洁.模拟数据实验与真实图像数据实验结果表明该方法可行、有效.
A self-calibration approach to hand-eye relation of robot based on a single point in the scene is proposed. The manipulator end-effector is accurately controlled to＇perform five （or more） pure translational motions and two （or more） pure rotational motions, and the camera is required to image a single point in the scene. Motions of the camera are estimated based on the disparity and depth value of the point, relative position constraint equations between coordinates of the manipulator end-effector and the camera are set up, and the intrinsic parameters of camera and the hand-eye relation are obtained linearly. In the calibration process, only one point in the scene needs to be extracted, and neither matching nor orthogonal motion is required, therefore, motions of the manipulator can be controlled conveniently and the algorithm can be implemented simply. Experiment results of both simulation data and real image data show that the proposed method is effective and feasible.
出处
《机器人》
EI
CSCD
北大核心
2008年第4期373-378,共6页
Robot
基金
国家863计划资助项目(2008AA04Z214)
国家自然科学基金资助项目(60775047)
高校科技创新工程重大项目(706043)
关键词
手眼视觉系统
自标定
视差
深度值
hand-eye vision system
self-calibration
disparity
depth value
