基于救援机器人灵活操控的目标位姿估计研究  

Research on Target Pose Estimation Based on Flexible Manipulation of Rescue Robot

作　　者：臧雨飞 谈英姿[1] 

机构地区：[1]东南大学自动化学院,江苏南京210096

出　　处：《工业控制计算机》2018年第6期59-60,65,共3页Industrial Control Computer

摘　　要：针对Robo Cup Rescue救援机器人项目中操控灵活性的比赛要求,提出了一种对目标物进行快速简单位姿估计的方法,通过准确估计出目标物的位姿,实现救援机器人机械臂的灵活操控。该方法首先通过图像配准获取目标物在相机坐标系下的点云;然后运用基于4个不共面的特征点的P4P方法估计相机位姿;最后采用稳定特征值法、向量法确定目标物的姿态和均值法确定位置。实验结果表明,位姿估计算法具有较高精度和准确性,能够满足操控灵活性要求。This paper proposes a fast and simple pose estimation method of target,which can accurately estimate the position of the target and realize the Rescue Robot manipulator＇s flexible manipulation.The working process of pose estimation：firstly,the point cloud in camera coordinate system is obtained through image registration.Then,a P4 P method based on four non-coplanar feature points is used to estimate the camera pose.Finally,the stability eigenvalue method and vector method are used to determine the posture of target object and mean method are used to determine the position of target object.

关 键 词：位姿估计 点云 P4P 稳定特征值法 向量法 均值法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP391.41[自动化与计算机技术—控制科学与工程]