| 移动机器人足目标定方法 |
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| 引用本文： | 张广军,李秀智.移动机器人足目标定方法[J].机器人,2007,29(3):230-233. |
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| 作者姓名： | 张广军 李秀智 |
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| 作者单位： | 北京航空航天大学仪器科学与光电工程学院,北京,100083;北京航空航天大学仪器科学与光电工程学院,北京,100083 |
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| 基金项目： | 教育部面向21世纪教育振兴行动计划（985计划） |
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| 摘 要： | 为构建完整的移动机器人视觉导航系统，提出了一种移动机器人足目标定方法．该方法以一个带有数个已知标记点的平面反射镜为中介，分别标定出平面镜坐标系与摄像机坐标系的欧氏变换关系、镜像坐标系与摄像机坐标系的欧氏变换关系、镜像坐标系与平面镜坐标系的欧氏变换关系及机器人坐标系与平面镜坐标系的欧氏变换关系，从而确定摄像机坐标系和移动机器人车体坐标系的欧氏变换关系，实现了移动机器人足目标定．实验结果表明，该方法简单、有效，无需昂贵的标定装置和复杂的标定过程，且可实现现场标定．
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| 关 键 词： | 移动机器人 视觉导航 摄像机标定 足目标定 镜面成像 |
| 文章编号： | 1002-0446（2007）03-0230-04 |
| 修稿时间： | 2006-06-07 |
Foot-Eye Calibration for Mobile Robots |
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| ZHANG Guang-jun,LI Xiu-zhi.Foot-Eye Calibration for Mobile Robots[J].Robot,2007,29(3):230-233. |
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| Authors: | ZHANG Guang-jun LI Xiu-zhi |
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| Affiliation: | School of Instrumentation Science and Optoelectronics Engineering, Beihang University, Beijing 100083, China |
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| Abstract: | To establish a complete mobile robot system based on visual navigation, a foot-eye calibration method is proposed for mobile robots. A planar mirror with some given marker points is employed as an intermediary to calibrate the Euclidean transformations between camera coordinate frame and specular image coordinate frame, between camera coordinate frame and mirror coordinate frame, between specular image coordinate frame and mirror coordinate frame and between robot-centered coordinate frame and mirror coordinate frame. Subsequently, rigid transformation from camera coordinate frame to robot-centered coordinate frame is established, realizing the foot-eye calibration for mobile robots. Experimental results indicate that the presented method is simple and effective. Since it is free of expensive physical setup and complex procedure, it is suitable for field operating. |
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| Keywords: | mobile robot visual navigation camera calibration foot-eye calibration specular imaging |
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