摘要
针对机械手抓取的目标物其空间位置难以确定的现状,提出了在采集到的图像中利用模板匹配找到目标物,测定其中心点的坐标,并将其坐标值代入摄像头的成像模型中,进而算出该点的三维坐标值的方法。该方法具有精度高、适用性强的特点。实验结果表明,用该方法确定目标物位置,能够使机械手抓取达到所需的精度要求。
In view of the target manipulator-snatching difficult to determine their spatial position, the method was proposed. Using the template matching to find the object in the collected image, and find the center coordinates, then put coordinate values of the image into the imaging model and calculate the three-dimensional coordinates of the point. This kind of method has high accuracy, applicability characteristics. The experimental results show that using this kind of method to determine the location of the target can meet the manipulator-snatching accuracy requirements.
出处
《机电工程》
CAS
2007年第5期99-101,共3页
Journal of Mechanical & Electrical Engineering
关键词
模板匹配
坐标测量
成像模型
摄像机标定
template matching
coordinate measuring
imaging model
camera calibration
