基于Halcon的固定视点手眼标定方法  

Hand⁃eye Calibration Method of Fixed Viewpoint Based on Halcon

作　　者：杨伟姣 杨先海[1] 薛鹏[2] 孙阳 代瑞恒 谭帅[2] YANG Weijiao;YANG Xianhai;XUE Peng;SUN Yang;DAI Ruiheng;TAN Shuai(School of Mechanical Engineering,Shandong University of Technology,Zibo Shandong 255049,China;Shengli Oilfield Plateau Petroleum Equipment Co.,Ltd.,Dongying Shandong 257000,China)

机构地区：[1]山东理工大学机械工程学院,山东淄博255049 [2]胜利油田高原石油装备有限责任公司,山东东营257000

出　　处：《机床与液压》2021年第8期35-37,71,共4页Machine Tool & Hydraulics

基　　金：国家自然科学基金青年科学基金项目(51905320)。

摘　　要：在视觉引导机器人完成抓取的过程中,最重要的步骤是手眼标定,手眼标定的精度将直接影响后续工作的精度。充分考虑相机畸变对手眼标定的影响,在Halcon环境下,设计一种高精度的固定视点手眼标定方法,该方法在确定了机器人基础坐标系与相机图像坐标系之间关系的同时也标定了相机的内外参数,并通过实验进行验证。结果表明:该标定方法具有较高的精度,可广泛应用于视觉机器人的定位抓取工作。In the process of visually guiding robot to complete grasping,the most important step is hand⁃eye calibration.The ac⁃curacy of hand⁃eye calibration will directly affect the accuracy of subsequent work.Fully considering the effects of camera distortion on the calibration of the opponent’s eyes,in Halcon environment,a high⁃precision fixed⁃view hand⁃eye calibration method was designed.In this method,the relationship between the robot’s basic coordinate system and the camera image coordinate system was determined while the internal and external parameters of the camera were also calibrated.It was verified by experiments.The results show that the calibration method has high accuracy and can be widely used in the positioning and grabbing work of visual robots.

关 键 词：机器视觉 相机标定 手眼标定 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]