基于亚像素的乒乓球机器人本体位姿视觉测量  

Vision-based pose measurement of ping-pong robot body with sub-pixel accuracy

作　　者：陈国栋[1] 徐德[1] 任艳青[1] 杨平[1] 

机构地区：[1]中国科学院自动化研究所复杂系统智能控制与管理国家重点实验室(筹),北京100190

出　　处：《控制与决策》2012年第10期1571-1574,共4页Control and Decision

基　　金：国家863计划项目(2008AA042601)

摘　　要：提出一种基于亚像素精度的特征点提取算法,结合PnP方法和正交迭代(OI)算法计算乒乓球机器人本体的位姿.根据摄像机成像时弥散斑的近似高斯分布,以亚像素精度精确求取色标块的边缘,利用边缘直线交点得到高精度的角点作为特征点.基于PnP算法利用上述特征点求取机器人位姿的初值,再通过OI算法进行优化,以保证其姿态矩阵的正交性.实验结果表明,该方法能快速准确地实现机器人本体的位姿测量.A method with sub-pixel accuracy is proposed to extract feature points, and PnP and OI algorithms are combined to measure the pose of a ping-pong robot body. According to the approximate Gaussian distribution of the dispersion spot of camera imaging, the edges of the color mark are obtained in sub-pixel accuracy. Their intersections form high accurate comers, which are considered as feature points. The estimated pose value obtained by the PnP-based algorithm is taken as the initial value. The OI algorithm is employed to optimize the pose in order to ensure the orthogonality of the orientation matrix. Experimental results show that the proposed method can measure the pose of robot body quickly and accurately.

关 键 词：视觉测量 PnP算法 正交迭代算法 位姿估计 亚像素精度 图像处理 乒乓球机器人 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]