一种基于旋转体的模型定位方法  

Determining model pose based on body of revolution

作　　者：王挺[1] 王越超 李小凡 

机构地区：[1]中国科学院研究生院,北京100039 [2]中科院机器人学重点实验室,沈阳110016

出　　处：《仪器仪表学报》2006年第z2期1073-1075,共3页Chinese Journal of Scientific Instrument

基　　金：国家863基金(2004AA420090)

摘　　要：本文设计了一种由4个相切椭圆构成的几何模型,该模型环绕于圆柱体表面,利用二次曲线的投影仍然是二次曲线的特性和椭圆的相应性质能够得到唯一确定模型位置的4个共面的坐标点,从而将旋转体定位问题转化为共面P4P问题。利用P4P的线性算法,即可唯一确定圆柱体模型的位置和姿态。最后利用这种定位方法进行了仿真实验,实验结果表明这种方法的有效性。This article designs a geometric model composed of four tangentialellipses that surround the surface of a cylinder. By using the preserved characteristic of conies and the corresponding characteristicof ellipse, we obtain four control points which can determine the pose of the model uniquely, thus the current problem of is converted into the problem of coplaneP4P. By using the linear algorithmof P4P, the pose of model can be acquireduniquely. At last, simulation experiments with the algorithm are carried out and experimental results show its effectiveness.

关 键 词：旋转体 P4P问题 定位 

分 类 号：TH7-55[机械工程—仪器科学与技术]