基于椭圆检测算法的位姿快速测量技术  

Pose fast measurement technology based on ellipse detection algorithm

作　　者：余海涛 施光林[1] YU Haitao;SHI Guanglin(Institute of Mechatronics and Logistic Equipment,School of Mechanical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China)

机构地区：[1]上海交通大学机械与动力工程学院,机电控制与物流装备研究所,上海200240

出　　处：《传感器与微系统》2020年第5期122-124,128,共4页Transducer and Microsystem Technologies

摘　　要：为了实现柔性臂末端位姿测量,提出了基于椭圆检测算法的柔性臂末端位姿快速测量技术。设计了一种新的靶标板,靶标板上面按一定规则排列了4个圆形特征。综合运用了椭圆快速检测算法、PNP算法。在Visual Studio环境下,利用C++和OpenCV库进行了代码实现,结果表明位姿测量准确、稳定。In order to realize the measurement of the end pose of flexible arm,a fast measurement technique based on the ellipse detection algorithm for the flexible arm end position is proposed.A new target plate is designed and four circular features are arranged on the target plate according to certain rules.The ellipse fast detection algorithm and the perspective-n-point(PNP)algorithm are used in combination.In the Visual Studio environment,the code is implemented using C++and OpenCV libraries.Results show that the pose measurement is accurate and stable.

关 键 词：圆形特征设计 椭圆快速检测 PNP算法 

分 类 号：TP212.9[自动化与计算机技术—检测技术与自动化装置]