基于奇异值分解的机器人工具坐标系标定

机器人通过在末端安装不同的操作工具来完成各种作业任务,而工具参数的准确度直接影响着机器人操作精度,因此研究一种准确、快速的工具坐标系标定方法具有重要的意义。该文提出一种称为三点五步法的机器人工具坐标系标定方法,并基于矩阵的奇异值分解理论对该标定方法进行了严密的数学推理,证明该标定方法理论上的可行性。采用该算法进行工具坐标系标定具有操作简单、标定精度高、可靠性强和算法易于程序实现的特点。     

基于视觉的增强现实技术研究综述

增强现实技术是当前计算机视觉领域中的热点问题之一,本文系统综述了基于视觉的增强现实 技术的研究现状．首先,对基于视觉的增强现实技术的研究现状进行了概述;其次,详细地阐述了该领域目 前出现的新技术,包括三维注册技术、摄像机标定技术、跟踪技术、虚实光照的一致性以及AR 实空间建模技 术,继而论述了该领域在研究中存在的问题,并对该领域中需要进一步解决的问题进行了讨论;最后,对增 强现实技术的进一步研究进行了展望．     

用单片机实现交通灯的控制

交通灯控制系统由80C51单片机、键盘、LED显示、交通灯演示组成.系统除基本交通灯功能外,还具有时间设置、LED信息显示等功能.     

A structural linearization principle for processes

In [11], an induction principle for processes was given which allows one to apply model-checking techniques to parameterized families of processes. A limitation of the induction principle is that it does not apply to the case in which one process depends directly upon a parameterized number of processes, which grows without bound. This would seem to preclude its application to families ofN processes interconnected in a star topology. Nonetheless, we show that if the dependency can be computed incrementally, then the direct dependency upon the parameterized number of processes may be re-expressed recursively in terms of a linear cascade of processes, yielding in effect a linearization of the inter-process dependencies and allowing the induction principle to apply.A previous version of this paper appears in the Proceedings of CAV 1993 (LNCS 697).     

活塞式液体流量标准装置体积校准方法的探讨

对活塞式液体流量标准装置体积校准方法进行了研究,基于理想圆柱体模型建立了活塞装置体积模型,引入修正系数对所建立的体积模型进行修正,并利用质量守恒定律提出采用质量法对活塞装置进行体积校准.对修正系数进行赋值分析和不确定度评定,结果表明5L及以上体积的扩展不确定度优于0.05％.该方法操作简便,可控性好,结果准确可靠.     

基于角度不变的线阵推扫式CCD相机几何畸变在轨检校方法

对航天遥感相机进行在轨检校,是提高卫星产品质量,扩大产品应用效果的重要技术内容.文中研究了一种基于角度不变的线阵推扫式CCD相机几何畸变在轨检校方法.该方法利用相机外方元素对于相机视向量夹角角度影响比较小的原理,根据地面控制点和一级产品图像,求解相机视向量夹角,从中提取相机光学部件的畸变模型参数,从而实现相机内外方元素解耦.相机畸变模型采用一维3阶多项式,对焦距和主点等引起的低阶误差能够很好地吸收.该方法用在HJ-1A/B卫星的宽幅盖CCD相机几何畸变校正上,检校误差残留在2—6个像元,和参考数据精度相似,表明取得了很好的校正效果.     

Robust metric calibration of non-linear camera lens distortion

Camera lens distortion is crucial to obtain the best performance cameral model. Up to now, different techniques exist, which try to minimize the calibration error using different lens distortion models or computing them in different ways. Some compute lens distortion camera parameters in the camera calibration process together with the intrinsic and extrinsic ones. Others isolate the lens distortion calibration without using any template and basing the calibration on the deformation in the image of some features of the objects in the scene, like straight lines or circles. These lens distortion techniques which do not use any calibration template can be unstable if a complete camera lens distortion model is computed. They are named non-metric calibration or self-calibration methods.Traditionally a camera has been always best calibrated if metric calibration is done instead of self-calibration. This paper proposes a metric calibration technique which computes the camera lens distortion isolated from the camera calibration process under stable conditions, independently of the computed lens distortion model or the number of parameters. To make it easier to resolve, this metric technique uses the same calibration template that will be used afterwards for the calibration process. Therefore, the best performance of the camera lens distortion calibration process is achieved, which is transferred directly to the camera calibration process.     

Revisiting Zhang's 1D calibration algorithm

In recent years, the camera calibration using 1D patterns has been studied and improved by researchers all over the world. However, the progress in that area has been mainly in the sense of reducing the restrictions to the 1D pattern movement. On the other hand, the method's accuracy still demands improvements. In the present paper, the original technique proposed by Zhang is revisited and we demonstrate that the method's accuracy can be significantly improved, simply by analyzing and reformulating the problem. The numerical conditioning can be improved if a simple data normalization is performed. Furthermore, a non-linear solution based on the Partitioned Levenberg-Marquardt algorithm is proposed. That solution takes advantage of the problem's particular structure to reduce the computational complexity of the original method and to improve the accuracy. Tests using both synthetic and real images demonstrate that the calibration method using 1D patterns can be applied in practice, with accuracy comparable to other already traditional methods.     

测试／校准实验室如何建立管理体系

测试／校准实验室是为社会提供测试／校准有效数据的实体,为保证测试／校准结果的有效,军事测试／校准实验室应按照GJB2725A-2001《测试实验室和校准实验室通用要求》建立管理体系。依据GJB2725A-2001的要求,在管理体系建立上,通过组织准备、管理体系策划、文件编制、管理体系试运行、管理体系正式运行和保持等五个方面的分析,探讨了军事测试／校准实验室应如何建立和保持一个运行有效的管理体系的方法。     

半导体照明中结温的电学法测试与优化

基于电学法测试半导体照明的结温,实现了结温测试的电路,采用脉冲调制对LED的瞬态结温值进行测试.实脸发现,结温与正向电压的标定系数K值是影响结温测试精度的主要因素,分析了产生误差的主要原因,并对该系数进行修正.测试结果表明:结温的实测值与参考值有良好的一致性,存在误差的原因是采样的延时时间较长,可提高数据采样率和剔除不...