摘要
位姿是六自由度平台的一项重要性能指标 ,其全方位、全行程的动态精确检测 ,对于六自由度平台的精确控制及广泛应用具有十分重要的意义。介绍六自由度平台 ,提出并着重讨论采用立体视觉对六自由度平台位姿进行检测的原理及具体步骤。实验结果表明 ,对于六自由度平台位姿的检测 ,立体视觉是一种可靠、快速、简单、可行的方法。
This paper describes the theory and implementation of a system that determines position and orientation of a parallel 6-DOF electrohydraulic servo platform, or a 6-DOF platform for short, in a reference coordinate system called the world coordinate system. The idea is based on stereo vision. While the 6-DOF platform is moving, the system tracks observable feature points that are fixed on it. With visual information from two free-standing cameras, the positions of feature points could be determined and the position and orientation of the 6-DOF platform will also be derived.
出处
《中国机械工程》
CAS
CSCD
北大核心
2000年第7期814-816,共3页
China Mechanical Engineering
基金
国家自然科学基金资助项目! ( 596750 1 0 )
关键词
立体视觉
六自由度平台
位姿检测
stereo vision, 6-DOF platform, position and orientation, measurement
