基于视觉检测技术的浮球姿态测量

给出一种基于图像信息估计被测浮球及其中心轴孔空间姿态的视觉检测方法.若相机焦距已知,且给定空间球与圆特征的形状参数,则可由单视方法估计该球心与圆特征中心位置及其法向方向.基于该算法,可实现对被测球体中心轴端面法线方向的估计,同时还可估计出被测球体及端面中心的位置,从而实现对目标浮球位置及姿态的非接触测量.数值仿真及实际图像处理结果表明了该算法的有效性.

Measurement of floating ball pose by vision inspection technique

A vision inspection technique is provided, which can be used to estimate the pose of the floating ball and its center axis hole by its projected image. When the focus length of digital camera is given, with the size of the spatial circular and spherical feature is also known, their position and/or orientation could be estimated using monocular vision. Using the algorithms presented here, the normal direction of the circular end plane of the central axis of the detected floating ball is estimated, and the center position of the ball and the circular end plane could also be acquired simultaneously. Thus, a non-contact measurement for the floating ball pose is carried out. Ex-periments with simulated data as well as real image are also presented to validate the algorithms.