一种基于多视角图像的目标物体定位方法

在遥操作机械臂时,为了能有一个更加友好的人机交互界面,往往需要在控制界面中构建一个虚拟的机械臂以及机械臂工作空间,所以,在虚拟工作空间中标示出目标物体与虚拟机械臂的相对位置,给操作人员一个直观的提示,是虚拟工作空间重构的关键问题.针对机械臂遥操作,提出了一种基于不同视角图像的快速高效的定位方法,该方法根据目标物体在多个不同视角图像中的位置,计算出目标物体在实际工作空间中的位置,从而在虚拟机械臂工作空间中标示出目标物体与虚拟机械臂的相对位置.最后,构建了机械臂遥操作实物系统,验证了该方法的正确性.

A Target Objects Positioning Based on Different Perspectives of Images

When tele-operating the robot arm,in order to have a more friendly user interactive interface,it often need to build a virtual work space,and how to mark the target object and the virtual mechanical working in virtual space is also a very important topic.For robotics manipulators tele-operated,a method of targeting based on a different perspective of the image is proposed.According to the target position of the object in a number of different perspectives arbitrary image,the location of the target object in the work space is calculated,and the relative position between the target mark and the virtual object in the virtual robotic manipulator workspace is marked.In the end,manipulator teleoperation physical system is constructed to verify the correctness of the method.