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Alternative TitleA Simple Method for Measuring Monocular Visual Pose
谷凤伟1; 高宏伟1,3; 姜月秋2
Source Publication光电技术应用
Contribution Rank2
Funding Organization机器人学国家重点实验室开放课题资助项目(基于月球车车辙图像的月壤特性研究2016008)
Keyword位姿测量 单目视觉 图像预处理 测量模型
Other AbstractAiming at the problem of robot pose measurement under certain working conditions, a simple pose measurement system based on monocular vision is studied and designed, and an accurate target detection algorithm combined with monocular vision measurement method is proposed to measure robot pose. At first, the coordinates of the target in the image are extracted by image preprocessing and target detection algorithm, in which the image pre⁃ processing includes median filtering, edge detection and image morphological expansion. And then, the calibration of the measurement model is performed, and the model parameter is solved by least square method. The established measurement model is used to convert the coordinate system, and the two-dimensional pixel coordinates of the obtained target images are converted into three- dimensional world coordinates to obtain the pose of the target in the world coordinate system. At last, the accuracy and effectiveness of the method are proved by experiments, which meet the measurement requirements.
Document Type期刊论文
Corresponding Author谷凤伟
Recommended Citation
GB/T 7714
谷凤伟,高宏伟,姜月秋. 一种简易的单目视觉位姿测量方法研究[J]. 光电技术应用,2018,33(4):64-70.
APA 谷凤伟,高宏伟,&姜月秋.(2018).一种简易的单目视觉位姿测量方法研究.光电技术应用,33(4),64-70.
MLA 谷凤伟,et al."一种简易的单目视觉位姿测量方法研究".光电技术应用 33.4(2018):64-70.
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