基于双目视觉的柔性线缆运动检测方法及误差分析  

Motion Detection Method of Flexible Cable Harness Based on Binocular Vision And Its Error Analysis

作　　者：刘检华[1] 王小寅[1] 张天[1] 

机构地区：[1]北京理工大学机械与车辆学院,北京100081

出　　处：《北京理工大学学报》2012年第8期795-800,共6页Transactions of Beijing Institute of Technology

基　　金：国家自然科学基金资助项目(50805009)

摘　　要：研究大长径比柔性线缆的运动轨迹测量.根据线缆的几何特征和运动特点,提出了一种基于中心线匹配法的双目视觉运动检测方法,分析了该方法测量流程中的标定、匹配和重构误差之间的关系,建立了测量系统的几何误差模型并推导了误差估算公式,同时设计了一种误差校核方法.对该方法进行了实验验证,结果表明误差估计值0.11mm与实测误差值0.09mm接近,满足工程要求.In order to detect the trace of flexible movable cable harness accurately, a binocular vision measurement approach is proposed using centerline matching method according to the geometry feature of cable harness and the way of its motion-deformation-coupling. The relationships among calibration, matching and reconstruction error in the course of measurement were investigated. Then, a geometrical error model was set up and the error-estimate formula was deduced. Experiment has been conducted to proofread the measurement error. The result shows that the tested error is 0.09 mm, which comes close to the 0.11 mm value calculated by the formula, that indicate the presented error model is reality and the motion detection result could meet the engineering requirement.

关 键 词：双目视觉 运动检测 中心线匹配算法 误差分析 线缆 

分 类 号：TP394[自动化与计算机技术—计算机应用技术]