三维视觉传感系统的研究及仿真计算

三维视觉传感系统在机器人视觉领域有着重要的意义和实用价值。本文采用单摄像机与３－Ｄ示教器组成的仿真三维视觉传感器装置来完成空间坐标系中物体的空间位置和姿太的测量。将３－Ｄ示教器坐标，机器人坐标及摄像机坐标用透视变换坐标变换及ＬＥＤ的几何关系来求取被测对象的空间位置和姿态。本方案具有简单，快速，可靠的特点，为机器人视觉，形及最小一乘法来实现视点的标定，其算法结构优于非迭代矩阵分解算法。

Study and Simulation of the 3-D Visual Sensor System

It is very important that the 3-D visual sensory system in visual robotics field is designed. In this paper, a TV camera and a 3-D teaching device with four LEDs attached to measured Point on the object are employed to acquire the 3-D information of the measured point. The algorithm of the position and orientation in space is based on vector analysis and Perspective transformation principle. The advantages of the algorithm are high reliable, time saving, simple and practical. The calibration of the camera is also discussed in this paper. The correct parameters of the camera are obtained by decomposed matrix method and Least Square method, which is proposed by author. The calibration method is better than non iterative matrix analytic method.