摘要
通过改进传统水上双目立体视觉定位方法使其适于水下机器人(ROV)的机械手等的定位。为适应复杂水下透视环境,针对水下的液体环境设计摄像机密封结构,引入了高次畸变参数对摄像机进行标定,以得到相机水下内外参数,然后针对传统较为复杂的双目摄像机视线(射线)相交求取目标点的方法,提出了一种基于前向平行校正的简单定位算法,并进行试验。试验结果表明,该系统及其算法简单可靠,在一定工作范围内,能保证精度误差在3%以内。
A new binocular stereo vision locating system was designed for the guidance of the manipulator on a remotely operated vehicle（ROV）.In order to adapt the complex underwater environment,a sealing structure for the camera,a method of underwater calibration and a new method of object locating based on front parallel plane transformation were designed.Experiment results show the accuracy and stability of the underwater locating system,the locating error of which can be kept within 3%.
出处
《机电工程》
CAS
2011年第5期567-573,共7页
Journal of Mechanical & Electrical Engineering
关键词
水下机器人
水下标定
双目视觉
定位
前向平行校正
remotely operated vehicle（ROV）
underwater calibration
binocular stereo vision
locating
front parallel plane transformation
