计算机工程 ›› 2018, Vol. 44 ›› Issue (9): 33-37.doi: 10.19678/j.issn.1000-3428.0048260

所属专题: 智能机器人专题

• 智能机器人专题 • 上一篇    下一篇

基于单应矩阵的手眼视觉系统简便标定方法

张航 1,王晓凯 1,张云鹏 2   

  1. 1.山西大学 物理电子工程学院,太原 030006; 2.山西迪迈沃科光电工业有限公司,太原 030006
  • 收稿日期:2017-08-07 出版日期:2018-09-15 发布日期:2018-09-15
  • 作者简介:张航(1992—),男,硕士研究生,主研方向为机器视觉定位;王晓凯,教授、博士;张云鹏,高级工程师。
  • 基金项目:

    山西省国际科技合作计划项目(2014081027-1)。

Simple Calibration Method of Hand-eye Vision System Based on Homography Matrix

ZHANG Hang 1,WANG Xiaokai 1,ZHANG Yunpeng 2   

  1. 1.College of Physics and Electronic Engineering,Shanxi University,Taiyuan 030006,China; 2.Shanxi Teamwork Photoelectric Industries Co.,Ltd.,Taiyuan 030006,China
  • Received:2017-08-07 Online:2018-09-15 Published:2018-09-15

摘要:

传统的手眼关系齐次矩阵方程求解过程繁琐、复杂,且精度易受环境影响。为此,引入将图像坐标直接转换为机器人坐标的思想,利用OpenCV库函数的分析计算能力,提出基于两平面单应矩阵的手眼关系标定方法。采用虚拟“九宫格”和一个固定参考点的标定方式,建立线性 摄像机成像模型,得到两平面的单应矩阵,据此引导机械臂定位。实验结果表明,该方法完成标定程序只需38 s,且系统精度高于传统的齐次矩阵方程标定方法。

关键词: 手眼关系, OpenCV库函数, 单应矩阵, 摄像机成像模型, 机械臂定位

Abstract:

The traditional hand-eye relationship homogeneous matrix equation solving process is cumbersome and complicated,and the accuracy is susceptible to environmental influences.Therefore,based on the idea of converting image coordinates directly into robot coordinates,using the analysis computing ability of OpenCV library function,a hand-eye relationship calibration method based on two-plane homography matrix is proposed.Using the virtual “nine squares” and a fixed reference point calibration mode,a linear camera imaging model is established,and a two-plane homography matrix is obtained,thereby guiding the manipulator positioning.Experimental results show that the method is only 38 s,and the accuracy is higher than the traditional calibration method.

Key words: hand-eye relationship, OpenCV library function, homography matrix, camera imaging model, manipulator positioning

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