机器人视觉系统的自标定新算法

被引:7
作者
毛剑飞
陈利红
刘晓峰
诸静
机构
[1] 浙江大学电气自动化研究所
[2] 工业控制技术国家重点实验室
关键词
摄像机自标定; 平面模板; 正六边形; 欧氏空间;
D O I
暂无
中图分类号
TP242 [机器人];
学科分类号
1111 ;
摘要
基于平面模板摄像机自标定的新算法,利用正六边形的特性,给出了一种精确求解其外接圆圆心的巧妙方法.基于这种算法,又提出了一种完全基于欧氏空间一般定理的实用算法.在平面模板上需三个半径已知的圆,摄像机只需作两次运动参数未知的刚体运动,即可确定摄像机的内部参数.本算法对摄像机的运动没有约束,且平面模板易于制作.仿真试验和真实图像试验的结果表明,此算法的标定精度足可与通常的平面模板标定算法相比,且用到的图像幅数更少.
引用
收藏
页码:27 / 31
页数:5
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