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单目视觉-激光测距定位系统的标定与姿态校正
Alternative TitleCalibrating and Correcting Pose of Monocular Vision and Laser Ranging Location System
郑帅超; 房立金; 徐志刚
Department装备制造技术研究室
Source Publication机械科学与技术
ISSN1003-8728
2017
Volume36Issue:12Pages:1926-1934
Indexed ByCSCD
CSCD IDCSCD:6135131
Contribution Rank1
Funding Organization国家863计划项目(2014AA041603) ; 国家自然科学基金项目(51575092)及国家科技重大专项-04专项(2013ZX04001041)资助
Keyword单目视觉 定位系统 标定 姿态校正
Abstract为了简化机器人单目视觉-激光测距定位系统的标定过程,提出一种机器人定位系统快速标定方法。通过一次标定实验即可同时完成相机参数、相机畸变参数以及手眼关系的标定,并利用手眼关系对激光测距传感器进行标定。同时,为了提高系统的标定和定位精度,提出一种基于激光测距传感器的机器人定位系统姿态校正方法,通过建立姿态校正模型求解姿态修正角,并在此基础上对深度方向的测量误差进行补偿。实验结果表明,提出的标定方法和姿态校正方法具有简单、准确和可靠的特点,满足机器人脱模系统的定位精度要求。
Other AbstractIn order to simplify the calibration process of a robot's monocular vision and laser ranging location system, a rapid calibration method is proposed for a robot's location system. The calibration of camera parameters, camera distortion parameters and eye⁃hand relation is performed with only one calibration experiment, and the laser ranging sensor is calibrated through the eye⁃hand relation. Besides, to improve the validity of calibration and location, a pose correction method for the robot's location system based on the laser ranging sensor is proposed; then a pose correction model is established to solve the pose correction angle, and the depth direction measurement error is compensated with the pose correction method. The experimental results prove that the calibration and pose correction method proposed in the paper is simple, correct and reliable, meeting the requirements for the location precision of a robot's de⁃mold system.
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/21118
Collection智能产线与系统研究室
Corresponding Author郑帅超
Affiliation1.东北大学机械工程与自动化学院
2.中国科学院沈阳自动化研究所
Recommended Citation
GB/T 7714
郑帅超,房立金,徐志刚. 单目视觉-激光测距定位系统的标定与姿态校正[J]. 机械科学与技术,2017,36(12):1926-1934.
APA 郑帅超,房立金,&徐志刚.(2017).单目视觉-激光测距定位系统的标定与姿态校正.机械科学与技术,36(12),1926-1934.
MLA 郑帅超,et al."单目视觉-激光测距定位系统的标定与姿态校正".机械科学与技术 36.12(2017):1926-1934.
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