摘要
建立一种基于单目视觉和激光点的测距模型。首先由三坐标测量机测量激光点在物体上的位置信息,采用图像处理该物体上激光点在单目CCD图像上的位置信息,建立一一对应关系,然后移动物体,使CCD图像上的激光点发生变化,得到多组对应的数据。根据这些数据,利用分段曲线拟合方法,建立了实验模型。根据建立的模型,进行一定范围内的距离测量,并与三坐标测量的结果比较,验证了这种方法的可行性,为移动机器人自主避障提供了条件。
It establishes a kind of ranging model method based on monocular vision and laser .Firstly, it uses the laser spot on the object by three coordinate measuring machine to generate the measuring location information and obtain the location information of the laser spot on the single CCD image by image processing , and builds an one-to-one relationship between them .Then moving the object , which leads to the changes of the laser spot on the CCD image , obtains more groups of corresponding data .According to these data , it illustrates the experimental model, measures a certain range of distance and compares with the results from three coordinate measuring ma-chine .The results verify the feasibility of this method .
出处
《机械设计与制造工程》
2014年第3期23-26,共4页
Machine Design and Manufacturing Engineering
基金
国家自然科学基金资助项目(60977071)
关键词
单目视觉测量
分段曲线拟合
测距模型
机器人
Monocular Vision Measurement
Segmented Curve Fitting
Ranging Model
Robot
