单目球形靶标球心成像坐标求解方法  

Spherical Center Imaging Location Solution Method for Monocular Spherical Target

作　　者：刘源泂[1,2,3] 程管 汤勃[1,2,3] 何茂征 蒋国忠 Liu Yuanjiong;Cheng Guan;Tang Bo;He Maozheng;Jiang Guozhong(Key Laboratory of Metallurgical Equipment and Its Control,Ministry of Education,School of Machinery and Automation,Wuhan University of Science and Technology,Wuhan 430081,Hubei,China;Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering,Wuhan University of Science and Technology,Wuhan 430081,Hubei,China;Institute of Precision Manufacturing,Wuhan University of Science and Technology,Wuhan 430081,Hubei,China;Jiangsu Jianlong Shore Power Technology Co.,Ltd.,Yixing 214200,Jiangsu,China)

机构地区：[1]武汉科技大学机械自动化学院冶金装备及其控制省部共建教育部重点实验室,湖北武汉430081 [2]武汉科技大学机械传动与制造工程湖北省重点实验室,湖北武汉430081 [3]武汉科技大学精密制造研究院,湖北武汉430081 [4]江苏健龙岸电科技有限公司,江苏宜兴214200

出　　处：《激光与光电子学进展》2023年第12期284-292,共9页Laser & Optoelectronics Progress

摘　　要：圆球形辅助靶标的单目视觉测量系统中,光轴和球心不共线会使二维椭圆图像中心与实际球心成像坐标产生偏差,针对此,提出一种单目视觉的球形靶标球心成像坐标求解方法。首先,对单目成像系统进行标定,分析球心成像坐标与对应二维椭圆图像中心之间偏差影响因素,建立单目球心成像坐标求解模型。其次,采用改进Zernike矩方法实现对椭圆图像边缘亚像素的提取,仿真实验表明其椭圆中心定位精度提高了25.00%以上。最后,设计单目测量球形靶标距离实验方案,对不同间隔的球形靶标进行实验验证,结果表明所提方法求解的球形靶标移动距离与实际值的最大绝对偏差小于0.039 mm,满足单目视觉机器人系统目标定位精度、稳定性的要求。A solving spherical target imaging coordinate method based on monocular vision for resolving the deviation between the two-dimensional elliptical image center and the actual spherical center imaging coordinate in the monocular vision measurement system of the spherical auxiliary target is proposed as a result of this non-collinearity of the optical axis and the spherical center.First,the monocular imaging system is calibrated,the factors influencing the deviation between the spherical center imaging coordinate and the corresponding two-dimensional elliptical image center are examined,and the monocular spherical center imaging coordinate solution model is developed.Second,the improved Zernike moment method is used to realize the edge sub-pixel extraction of ellipse images.The simulation results demonstrate that the ellipse center positioning accuracy of the improved Zernike moment method is enhanced by more than 25.00%.Finally,the experimental plan for the monocular measurement of the spherical target distance is created,and the experimental validation is done on spherical targets with various intervals.The findings indicate that the maximum absolute deviation between the spherical target moving distance calculated by the proposed method and the actual value is less than 0.039 mm,which meets the requirements of target positioning accuracy and stability of monocular vision robot system.

关 键 词：视觉测量 球形靶标 球心定位 ZERNIKE矩 机器视觉 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]