摘要
为了提高遥控焊接智能化水平,设计了一套立体视觉系统进行焊接机器人环境的三维重建。对立体视觉系统参数标定分两步完成,首先使用基于平面模板的方法离线标定摄像机的内参数和两个CCD摄像机之间的位置关系等不变参数。然后使用线性方法对摄像机坐标系和焊接机器人工作坐标系之间的关系进行在线标定。标定试验重建结果的平均误差小于1 mm,最大误差小于3 mm。
In order to improve the intelligent level of remote welding,a stereo vision system was designed to reconstruct the 3D environment of the welding robot.The system was calibrated in two steps.First,a plane pattern based method was used to calibrate off-line the intrinsic parameters of each camera and the relations between the two CCD cameras were unchanged during the process.Then the relationship between the camera coordinate system and the robot coordinate system was calibrated on line using a linear method.The result shows that the mean error of the reconstruction results is smaller than 1 mm,and the max error is smaller than 3 mm.
出处
《焊接学报》
EI
CAS
CSCD
北大核心
2006年第9期103-107,共5页
Transactions of The China Welding Institution
关键词
摄像机标定
立体视觉
遥控焊接
三维重建
camera calibration
stereo vision
remote welding
3D reconstruction
