Research on Target Localization of Spacelab Robot Based on Vision

摘要：

The raw data of the world coordinates and image coordinates of calibration points were the fundamental parts of the calibration progress and object localization. In this paper, a new method on the measurement of the world coordinates of coplanar points by monocular theodolite is described, and an improved Harris corner detecting method to pick up image character points is introduced, and we realize the corner point stereo matching based on the correlation of Gray value by using epipolar constraint, exclusive constraint, ordering constraint. The correctness and feasibility of the methods are proved by typical experiments; the result shows the improvement of the precision and response velocity of calibration and target localization process.

作者: Ping ZHENG Qingxuan JIA Hanxu SUN

作者单位: Beijing University of Posts and Telecommunications, China

会议类型: 国际会议

会议名称: 2nd IEEE Conference on Industrial Electronics and Applications(ICIEA 2007)(第二届IEEE工业电子与应用国际会议)

会议地点: 哈尔滨

会议语种:英文

在线出版日期: 2007-05-23（万方平台首次上网日期，不代表论文的发表时间）