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A Simple Method for Measuring Monocular Visual Pose
Authors
姜月秋
谷凤伟
高宏伟
Publication date
1 January 2018
Publisher
Abstract
针对特定工作条件下机器人位姿测量问题,研究和设计了一种简易的基于单目视觉的位姿测量系统,提出了一种精确的靶标检测算法与单目视觉测量方法相结合的方案,可实现机器人位姿的测量。首先,通过图像预处理和靶标检测算法提取靶标在图像中的坐标,其中图像预处理包括中值滤波、边缘检测和图像形态学膨胀等过程。然后进行测量模型的标定,用最小二乘法求解模型参数,利用建立的测量模型进行坐标系的转换,将所得靶标图像二维像素坐标转换成三维世界坐标,从而得到靶标在世界坐标系中的位姿。实验证明了该方法的准确性和有效性,满足测量要求
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Shenyang Institute of Automation,Chinese Academy Of Sciences
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oai:ir.sia.cn/:173321/23352
Last time updated on 03/02/2019
Institutional Repository of Institute of Automation, CAS
See this paper in CORE
Go to the repository landing page
Download from data provider
oai:ir.sia.cn/:173321/23352
Last time updated on 16/09/2020