摘要
为实现移动机器人对远距离初始焊位的导引工作,介绍了一种简单有效的方法;通过图像处理计算出主动目标图像特征的质心和方位点来实现对目标的锁定,并利用运动学建模确立了主动目标从图像到实际工作空间的映射关系,从而得到目标实际的位置和方位。
A simple and effective method is presented to realize the initial welding position guiding task with long distance of mobile robot. By image-processing, the coordinate of the mass center and orientation point of the object in image are provided, and locking of the marking is achieved. And by means of kinematic modeling, the relationship between image and real working space is built, then the absolute position and orientation of the object are obtained.
出处
《计算机测量与控制》
CSCD
2006年第5期673-675,共3页
Computer Measurement &Control
