基于立体视觉和激光标记的空间物体位姿的快速定位算法  

QUICK MESUREMENT ALGORITHMS OF POSITION AND POSE OF SPATIAL OBJECT BY CCD IMAGES BASED ON STEREO VISION AND LASER TOKEN

作　　者：朱兴龙[1] 

机构地区：[1]扬州大学机械工程学院,扬州225009

出　　处：《机械工程学报》2004年第7期161-165,共5页Journal of Mechanical Engineering

基　　金：江苏省高校自然科学基金资助项目(03KJB460161)。

摘　　要：建立了一种4自由度双目立体视觉装置的传感器模型,根据空间两条相交射线唯一确定空间一点的原理,提出了在摄像机上加装激光源的方法,通过激光标记来解决目标物体上同一点在两幅CCD图像上对应点的快速匹配问题,从而很方便地求取目标物体的深度信息。最后,研究了目标物体空间位姿的图像定位算法,并通过确定的空间圆柱体位姿验证了该方法的正确性。The sensor modeling of binocular stereo visual equipment with four degree of freedom is established. According to the principle that a spatial point is only determined through two crossing half lines, the quickly matching method, which enables to solve the corresponding points about the same point on the objective matter in the different CCD images, is presented by adding the laser on the cameras. The deepness message can conveniently obtain by laser token. Eventually, the algorithm on position and pose of spatial object is researched, and the feasibility is validated by the cylinder which its position and pose is known on the space.

关 键 词：快速定位算法 位置和姿态 激光标记 立体视觉 

分 类 号：TP242.62[自动化与计算机技术—检测技术与自动化装置] O241.7[自动化与计算机技术—控制科学与工程]