Abstract: Based on machine vision technology, the method of image processing is used to recognise and locate workpiece. Based on the pin-hole camera model with one order radial lens distortion, two-step method of RAC is described to calibrate parameters of camera, and is validated on line.The experiment shows that the method acquires good result, and meets the requirement of real-time and precision of assembling.

Key words: Machine vision; Image processing; Object recognition; Automatic assembly

摘要： 针对工业装配生产线的自动装配问题，基于机器视觉技术，采用图像处理的方法识别定位工件。考虑透镜的径向一阶畸变，采用RAC 两步标定法标定摄像机参数，并在线对该文的方法进行了验证。实验结果表明，该方法能够获得很好的识别效果，达到一般装配作业的实时性和精度要求。

关键词: 机器视觉；图像处理；物体识别；自动装配