用立体视觉测量多自由度机械装置姿态的研究  

Study on the Pose Measurement of Multi-degree Freedom Mechanisms with Stereovision

作　　者：阮晓东[1] 李世伦[2] 诸葛良[3] 骆涵秀 

机构地区：[1]浙江大学流体传动及控制国家重点实验室 [2]浙江大学机械与能源工程学院 [3]上海交通大学动力与机械工程学院

出　　处：《中国机械工程》2000年第5期571-573,共3页China Mechanical Engineering

基　　金：国家自然科学基金资助项目 !(596750 1 0 )

摘　　要：提出一种用立体视觉测量多自由度机械装置姿态的方法。该方法的摄像机模型中所含的参数物理意义明确 ,考虑了镜头的畸变 ,并运用最小二乘法拟合这些参数。三维空间的重构是多点的重构 ,所采用的算法简单 ,匹配点的选择和空间坐标的重构同步完成 ,因此运算量小。实验结果表明 。In this paper, a method based on stereovision for measuring the pose of multi-degree freedom mechanisms is put forward. In the method, the camera model has the parameters, with definite physical meanings, and the deformation of the lens is also taken into account. These parameters can be obtained by the least-square algorithm. Furthermore, the 3D reconstruction of multi-points is simple. Since the matching of points and their reconstruction can be completed simultaneously, less calculations are needed. Experimental results show that the method can achieve pose measurements with higher precision.

关 键 词：立体视觉 空间重构 姿态测量 多自由度机械装置 

分 类 号：TH113.21[机械工程—机械设计及理论] TP274[自动化与计算机技术—检测技术与自动化装置]