基于双目立体视觉的目标空间坐标计算及姿态估计

Space Coordinate Calculation and Attitude Estimation Based on Binocular Stereo Vision

基于双目立体视觉的目标空间坐标计算及姿态估计方法、双目立体视觉系统标定和双目视觉系统校准技术,构建了三维场景中目标的空间坐标与图像中点像素坐标的对应方法.通过双目立体视觉系统采集目标图像,采用基于半全局立体匹配(SGBM)方法,实现了目标中心点三维坐标的计算,并通过背景差分的手段获得目标轮廓,获取目标在水平面的旋转角度,配合焦点所处的坐标位置标示,即可提取目标姿态信息.采用以上方法对电力仪表的姿态进行估计和验证,结果表明:设计的方法可以完成电力仪表的空间坐标计算以及姿态估计,可实现对电力仪表的准确抓取,为机器人在电力系统人工智能领域的应用提供参考.

The target space coordinate calculation and attitude estimation method based on binocular stereo vision,binocular stereo vision system calibration and binocular vision system calibration technology is used to construct the correspondence between the spatial coordinates of the target in the 3 D scene and the pixel coordinates of the midpoint of the image.The target image is acquired through the binocular stereo vision system,and then the three-dimensional coordinates of the target midpoint are calculated with the semi-global stereo matching(SGBM)method.The target contour is obtained with the background difference method,and then the rotation angle of the target in the horizontal plane is obtained.The coordinate position indicated by the focus indicates the target posture information.The attitude estimation and the test of power meter are verified with the method proposed above.The experimental results show that the designed method can complete the space coordinate calculation and attitude estimation of power meter.It can realize the accurate grasp motion of the power instrument and provide reference for the application of robot in the field of artificial intelligence of power system.