一种基于双目视觉技术的运动线缆空间位姿测量方法  

Pose measurement method of motional cable harness based on binocular vision technology

作　　者：王小寅[1] 刘检华[1] 宁汝新[1] 陈涛[1] 

机构地区：[1]北京理工大学机械与车辆学院,北京100081

出　　处：《光学技术》2010年第5期725-729,共5页Optical Technique

基　　金：国家自然科学基金(50805009);高等学校博士学科点专项科研基金资助项目(20091101110010)

摘　　要：为了测量柔性运动线缆的空间位姿,提出了一种基于双目视觉的中心线匹配法,可以对长径比较大的柔性线缆类零件的空间位姿进行光学测量。通过运动估计方法提取ROI(感兴趣区域),对ROI进行二值化处理,再通过细化算法提取区域的骨架作为中心线,结合极线约束寻找中心线上的匹配点对,重建中心线上点列并拟合空间中心线。建立了实验系统,通过实验测试表明,该方法平均测量误差为0.09mm,证明了实验方法的正确性和可行性。In order to realize pose measurement of flexible motional cable harness,a centerline match method based on binocular vision is proposed.This method can also be used to measure the pose of parts of large length-diameter ratio.ROI（Region Of Interesting）is extracted from image using motion estimate method.Processed by the binarization and thinning method,the skeleton is extracted from the ROI as its centerline.The match point-couple is found by restriction of epipolar line and the coordinates of points sequence is reconstructed,then the 3D centerline of the cable harness is fitted.Experimental results indicate that the average error of the system is 0.09mm,so the correctness and feasibility of the method are verified.

关 键 词：光学测量 双目视觉 中心线匹配法 柔性运动线缆 位姿测量 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]