机器人双目视觉系统的标定与定位算法

介绍了双目视觉系统的构成,选用简单实用的张正友标定法对系统使用的两个CCD摄像机进行了标定.基于双目视觉系统,提出一种计算物体位置信息的解析解方法——投影法,利用标定结果对不同位置进行深度信息测量,通过计算结果分析,基于视觉信息探测到的位置信息在1500mm范围内,3个方向的误差分别为0.72mm,0.69mm,20.96mm,验证了方法的正确性.

Calculation of the position between mobile robot and object based on two CCD cameras

This paper introduces the robot vision system with two CCD cameras and calibrates it based on the calibration method of Zhang Zhengyou. According to the established system, a new method to calculate the distance between the mobile robot and the object is presented. And the distance in different positions through the calibrated result is detected. The anlalysis of the experiment data proves that the position errors detected by the vision system are less that 0.72 mm, 0.69 mm and 20.96 mm in three directions within the distance of 1 500 mm, which verifies the correctness of the method.