基于平面模板的机器人双目标定与目标定位

Robots Binocular Calibration and Target Location Based on Planar Template

视觉是机器人获取外界信息最主要的途径,通过视觉系统准确地定位目标物体是机器人控制中的关键技术。为了使机器人准确地获取目标物体的位置,文中采用平面模板法对双目摄像头进行标定,构建机器人坐标系,完成对目标物体的定位。经过标定,双目摄像头可以获取目标物体在空间坐标系中的位置,经过坐标系转换,可以获得目标物体在机器人世界坐标系中的坐标值,该值是机器人实现对目标物体伺服跟踪和抓取的重要数据。最后,本方法在家庭机器人上得到了验证,机器人能够准确地定位目标物体。

Vision is the most important way to obtain information from the world, the accurate location of object through visual system is the key technology of robot controls. For the purpose that robot can get the position of object exactly, the binocular camera is calibrated with the planar template method, the coordinate of the robot is structured, and the object is located in this paper. After calibration, binocu- lar camera can obtain coordinate position of object. And after transfer of coordinate system,robot can acquire the coordinate value of ob- ject which is important data for serving trace and capturing object. Experimental results are conducted for illustration of effectiveness of the proposed methods,the robot can locate the object accurately.