用立体视觉测量多自由度机械装置姿态的研究

Study on the Pose Measurement of Multi-degree Freedom Mechanisms with Stereovision

提出一种用立体视觉测量多自由度机械装置姿态的方法。该方法的摄像机模型中所含的参数物理意义明确 ,考虑了镜头的畸变 ,并运用最小二乘法拟合这些参数。三维空间的重构是多点的重构 ,所采用的算法简单 ,匹配点的选择和空间坐标的重构同步完成 ,因此运算量小。实验结果表明 。

In this paper, a method based on stereovision for measuring the pose of multi-degree freedom mechanisms is put forward. In the method, the camera model has the parameters, with definite physical meanings, and the deformation of the lens is also taken into account. These parameters can be obtained by the least-square algorithm. Furthermore, the 3D reconstruction of multi-points is simple. Since the matching of points and their reconstruction can be completed simultaneously, less calculations are needed. Experimental results show that the method can achieve pose measurements with higher precision.