摘要
机器人在测量领域得到了广泛的应用 ,文中给出了基于单目视觉的机器人辅助测量 ,采用摄象机校准得到摄象机内、外参数 ,由手眼转换关系移动机器人执行器得到要求的摄象机运动 ,从而求出空间点在摄象机坐标系中的坐标 。
Nowadays, robot is widely used in measurement? The robot aided measurement based on monocular vision is proposed in this paper? First, the intrinsic and extrinsic parameters of the camera are computed by camera calibration; then move the robot manipulator according to the robot hand-eye transformation and the required camera movement relative to the camera coordinate system? Computing the coordinate of the point in 3D relative to the camera coordinate system using the camera intrinsic parameters and the normalized projection coordinate on the image plane? Finally, coordinate of the 3D point can obtain due to the camera extrinsic parameters?
出处
《组合机床与自动化加工技术》
北大核心
2002年第12期41-43,46,共4页
Modular Machine Tool & Automatic Manufacturing Technique
