一个可用于机器人定位的映射变换  

Mapping Transformation for Robot Localization

作　　者：唐琎[1,2] 白涛 陈玥[1] 杨安平[1] 

机构地区：[1]中南大学信息科学与工程学院 [2]国防科技大学通信与信息系统博士后流动站湘计算机工作站,湖南长沙410007 [3]Department of Electrical&Computer Engineering,Dalhousie University,Halifax,Canada

出　　处：《控制工程》2005年第S2期103-105,156,共4页Control Engineering of China

基　　金：国家自然科学基金资助项目(60234030)

摘　　要：在摄像机以某一角度俯拍地面的情形下,根据透视透影的成像原理,推导了一个从地面各点到摄像机图像间的变换公式,也得到了从摄像机图像中各点到地面的变换公式。只要知道世界坐标系中两个点之间的相对位置及其在摄像机图像的位置,就可以得到从摄像机图像到地面坐标系变换关系,这两个变换互为逆变换,它们可以在机器人定位及其他应用过程中发挥重要作用。When a camera got the image of the ground at a certain angle, the mapping formula from anywhere on the ground to the image taken by the camera was deduced, and the mapping from the image to the ground was also abstained. These two mappings are inversive to each other; the example of the mapping was given. When both the relative position of two points on the ground and their position on the camera image were known, the relative position between the camera and the landmark could be obtained easily from these formulae. They may play an important role in robot localization and other application.

关 键 词：图像处理 映射变换 透视投影 机器人定位 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]