双目视觉及其在全自动换电机器人中的应用  

Binocular Vision and its Application in Full-automation Robots for Changing Cell

作　　者：张栋栋 李汉舟[1,2] 

机构地区：[1]西安航天精密机电研究所所机器人事业部,陕西西安710100 [2]西北工业大学自动化学院,陕西西安710072

出　　处：《电子科技》2014年第7期168-170,176,共4页Electronic Science and Technology

摘　　要：介绍了双目立体视觉原理,并利用该技术解决了电动汽车自动换电过程中对电池表面三维信息的定位要求。采用张正友标定法完成相机标定,利用区域匹配原则进行特征点匹配,完成电池的三维重建。实验结果表明,双目视觉的定位精度满足换电要求。The principles of binocular stereo vision are introduced in this paper, and then binocular stereo vision technology is used to meet the localization requirements of the cell surface during the fully automatic changing cell for electric vehicle. Zhang Zhengyou calibration method is used to complete camera calibration and the regional matching principle to match feature points for the three-dimensional reconstruction of the cell. Experimental results show that the accuracy of binocular vision location meets the requirements for the changing cell.

关 键 词：双目立体视觉 相机标定 特征匹配 换电 

分 类 号：TP242.62[自动化与计算机技术—检测技术与自动化装置]