基于自标定技术的空间机械臂相机坐标系引出方法

Eduction Method of Space Manipulator Camera Coordinate System Based on Self-Calibration

机械臂视觉相机除了有视觉监视作用外,还可以对观测目标进行三维位姿测试。在相机整星安装阶段,需要将相机坐标系引入到相机安装坐标系中。由于相机坐标系的原点为针孔模型的投影中心,为一虚拟位置,无法通过直接测量的方式给出其具体位置。提出了一种基于自标定技术引出相机坐标系的方法,该方法通过相机对目标拍照,根据多幅图像间的对应匹配特征点,可得出相机的方位参数,进而引出相机坐标系。该方法简单直接,引出精度可达±0.117mm,能够满足测试需求和测试精度,对摄影测量相机的装调具有指导意义。

Besides the capability of visual surveillance,space manipulator vision system can measure the pose and attitude of target during the period of camera assembled to the satellite.The camera coordinate system should be connected to the camera assemblage coordinate system.Because the origin of the camera coordinate system is the center of the pinhole model,it can not be directly measured.A method for the eduction of camera coordinate system based on self-calibration was proposed.It is based on a pinhole-camera-model and all the camera intrinsic parameters can be obtained directly by the relationship of the matching feature points between a plurality of images.The experimental results show that the method is simple and direct.The accuracy of this method can reach as high as±0.117 mm,which is able to satisfy the test needs and the test precision.And it offers a meaningful principle of integration measured camera.