摘要
针对机器人手眼系统标定中空间坐标值参考点获取的困难,提出了一种改进的不需要已知坐标值参考点的机器人手眼系统标定方法.该方法的优点是在摄像机内参数标定中考虑了径向畸变,保证了标定精度.在外参数标定中,根据机器人自身运动特性提出了一种简便求取平移矩阵的方法.
To avoid the difficulties in obtaining the reference points with known coordinates in the calibration of robot hand-eye system, an improved calibration method that does not require such reference points was brought forward. In this method, the radial aberrance of the camera was taken into account to assure the calibration＇ s precision. A very handy method was proposed to get the translation matrix in the calibration of the camera＇ s external parameters, which was based on the motions of the robot itself.
出处
《高技术通讯》
CAS
CSCD
北大核心
2007年第9期934-937,共4页
Chinese High Technology Letters
基金
国家自然科学基金（60274035）资助项目.
关键词
机器人手眼系统标定
径向畸变
机器人视觉
mbot hand-eye system calibration, diameter aberrance, robot vision
