A monocular vision system based on the equidistance pseudo binocular feature recognition
Monocular vision system for medical robot must have high accuracy.In traditional monocular vision system, localization algorithm is realized by image space transformation, which leads to a trivial calculation process and a complex camera calibration method, therefore, this paper presents a new target characteristics identification method.Through the establishment of an equidistance pseudo binocular image acquisition way, searching the image and space coordinate transformation relation, avoid the complicated space matrix conversion and improve the position precision.Using Pointer method for image processing and customized backtracking boundary conditions for image searching, this paper realizes the curve fitting of target features boundary, and pattern recognition.Finally, an experiment is completed to guide the pharmacy movement of the Staubli TX40 arm, whose software runs within 200 ms and location error is less in 0.2 mm, verifies the validity of the algorithm.
Monocular vision Equidistance Pseudo binocular backtracking boundary pointer method
Jing Zhang Ming Zhong Bo Huang
Bldg.2＃,Inst.of HIT West Wenhua St.2＃,Weihai,China
国际会议
上海
英文
1987-1992
2012-10-19（万方平台首次上网日期，不代表论文的发表时间）