基于特征点的浮吊工件视觉定位法  

Feature-point Based Visual Positioning Method for Float Crane's Work Piece

作　　者：华凌志[1] 陈启军[1] 

机构地区：[1]同济大学控制科学与工程系,上海201804

出　　处：《机电一体化》2009年第11期37-41,共5页Mechatronics

基　　金：国家科技支持计划项目(编号:2007BAF10B00)

摘　　要：提出了一种基于特征点的视觉定位方法,并将其运用于浮吊工件的定位。将摄像机放置于浮吊的工件上方,成像方向对准并垂直于工件以及吊装位置所在基座平面,使其在随工件移动的过程当中能够提取基座平面上人为设置的特征点作为特征,并利用特征点之间的已知物理位置关系、基点的物理位置以及它们在成像坐标下的坐标信息,推算出工件与吊装位置的x-y轴向上的位置关系、相对高度以及工件姿态等信息。通过室内按比例缩小所进行的试验及其所得结果,验证了有效性以及其在浮吊中的可应用性。A feature-point based visual positioning method is presented in this essay,which is designed to be applied in the positioning of the float cranes＇work-piece. At the very first, a camera is fixed above the work-piece with its optical direction adjusted to be vertical to the plane where the loading spot is located, meanwhile, making sure the manset feature points on the plane will be and should be in the scope of the camera and therefore identifiable. So in the line, with the identifying and the relating of the feature points＇ position in the image coordinate to the ones in the real coordinate ,the positioning data ranging from the distance between the spot and work-piece to the height as well as the position will be calculable. By the proportionally minified indoor positioning experiment,the results gained verify the effectiveness and applicability of the positioning method.

关 键 词：视觉定位 摄像机成像模型 相机内部参数 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术] TS941.64[自动化与计算机技术—计算机科学与技术]