一种基于椭圆特征确定空间平面位姿的方法  

A Method of Determining the Pose of Spatial Plane Based on Ellipse Features

作　　者：杨晓俊[1] 朱兴龙[1] 夏云晴[1] 卞德广[1] 朱军军[1] 

机构地区：[1]扬州大学机械工程学院,江苏扬州225009

出　　处：《机电产品开发与创新》2009年第3期150-152,共3页Development & Innovation of Machinery & Electrical Products

基　　金：江苏省自然科学基金(BK2007084)

摘　　要：利用圆柱激光照射在空间平面上呈椭圆状特性,证明了此椭圆状光斑在左右摄像机CCD成像平面上所形成的图像也是椭圆。由最小二乘椭圆拟合法得到椭圆光斑的5个独立参数,并建立空间平面与椭圆参数之间的关系,采用SWIFT算法进行搜索求解,无需特征点匹配,即可确定空间平面的位姿。算例结果表明,该方法是有效可行的。Since the spot is elliptical when the cylindrical laser comes to the spatial plane, it proves that the laser spots in the CCD images, which are acquired by binocular stereo vision, are also elliptical. It describes that fitting laser spot to obtain 5 independent parameters based on the principle of least square ellipse and establishing the relationship between spatial plane and elliptical parameters. With the use of SWIFT search algorithm, the pose of spatial plane can be determined without the match of feature points. The numerical results show that the method is effective and feasible.

关 键 词：激光斑点 双目立体视觉 平面定位算法 最小二乘椭圆 

分 类 号：TH741[机械工程—光学工程]