基于HALCON的机器人运动空间中心点摄像机标定方法  

Camera Calibration Method for Robot Motion Center Based on HALCON

作　　者：朱行飞 陆华才 雍家伟 ZHU Xingfei;LU Huacai;YONG Jiawei(College of Electrical Engineering,Anhui Polytechnic University,Wuhu 241000,China)

机构地区：[1]安徽工程大学电气工程学院,安徽芜湖241000

出　　处：《安徽工程大学学报》2018年第1期34-40,共7页Journal of Anhui Polytechnic University

基　　金：安徽省自然科学基金资助项目(1608085ME106)

摘　　要：视觉系统的标定是机器视觉研究的重要内容.提出一种基于HALCON的机器人运动空间中心点摄像机标定方法,即在视觉视场内,在不同的位置和姿态下,机器人携带摄像机在要标定的工作空间内进行特定的平移和旋转运动进行图像采集.设其空间内的相交点为中心点,利用几何解析计算出相机的内外参数.然后通过HALCON视觉图像处理软件进行标定,对实验数据进行分析,证明了方法的可行性.The calibration of vision system is an important part of machine vision research.This paper presents a camera calibration method for robot motion center based on HALCON.In the visual field,in different positions and gaits,the robot carryies a camera,and captures images with a specific translational and rotational motion in the workpiece position calibration in space,with the overlap within the space of a point as the center point,the geometrical analysis of the internal and external camera parameters are conducted.Through the HALCON image processing software for calibration,analyses of the experimental data are obtained to prove the feasibility of the method.

关 键 词：机器视觉 标定 HALCON 摄像机模型 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]