基于平面标定的仿人乒乓机器人动态定位方法

Dynamic positioning method based on plane calibration forhumanoid ping-pong robots

以乒乓机器人为研究背景,提出了基于平面标定的旋转平移矩阵计算方法。该算法不添加任何人工标志,仅利用球台上几条有限的直线对动态机器人进行快速、精确的定位。由于乒乓球台弱纹理特性,基于特征点提取和匹配基础上的传统立体视觉定位方法很难达到较好的效果。本方法根据乒乓球台本身特点,提出对乒乓球台平面及球网上沿平行于乒乓球台的平面进行单独的平面标定;并利用乒乓球台上直线相对位置固定的特点,准确提取两条共面并垂直的相交直线;最后,利用乒乓球机器人静止时身高不变的特点计算出乒乓球机器人的旋转平移量。实验结果表明方法具有快速、准确的特点,能够满足仿人乒乓机器人及时响应的需求。

In the research background of ping-pong robots,a method of calculating the translation rotation matrix was proposed.Without the help of any artificial markers,the method can locate the robot＇s positions rapidly and accurately using several existing lines on the ping-pong table.The traditional calibration methods based on feature points extracting and matching was inefficient because of the week texture of the ping-pong table.Based on the features of the ping-pong table,the method calibrated the surface of the ping-pong table and the surface paralleled to the table where the top edge of the net located respectively;it took the advantage of fixed positions of the lines on the table to extract two perpendicular and coplanar lines from the images;and it calculated the translation and the rotation of the robot because the robot could keep a constant height when it was static.The experimental results verify that the method is rapid and accurate,and it can satisfy the requirements of the quick response of the humanoid ping-pong robot.