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单目视觉-激光测距定位系统的标定与姿态校正

郑帅超 房立金 徐志刚

郑帅超, 房立金, 徐志刚. 单目视觉-激光测距定位系统的标定与姿态校正[J]. 机械科学与技术, 2017, 36(12): 1926-1934. doi: 10.13433/j.cnki.1003-8728.2017.1220
引用本文: 郑帅超, 房立金, 徐志刚. 单目视觉-激光测距定位系统的标定与姿态校正[J]. 机械科学与技术, 2017, 36(12): 1926-1934. doi: 10.13433/j.cnki.1003-8728.2017.1220
Zheng Shuaichao, Fang Lijin, Xu Zhigang. Calibrating and Correcting Pose of Monocular Vision and Laser Ranging Location System[J]. Mechanical Science and Technology for Aerospace Engineering, 2017, 36(12): 1926-1934. doi: 10.13433/j.cnki.1003-8728.2017.1220
Citation: Zheng Shuaichao, Fang Lijin, Xu Zhigang. Calibrating and Correcting Pose of Monocular Vision and Laser Ranging Location System[J]. Mechanical Science and Technology for Aerospace Engineering, 2017, 36(12): 1926-1934. doi: 10.13433/j.cnki.1003-8728.2017.1220

单目视觉-激光测距定位系统的标定与姿态校正

doi: 10.13433/j.cnki.1003-8728.2017.1220
基金项目: 

国家863计划项目(2014AA041603)、国家自然科学基金项目(51575092)及国家科技重大专项-04专项(2013ZX04001041)资助

详细信息
    作者简介:

    郑帅超(1990-),硕士研究生,研究方向为机器人及自动化装备,shuaichao-zheng@foxmial.com

    通讯作者:

    房立金(联系人),教授,博士生导师,ljfang@mail.neu.edu.cn

Calibrating and Correcting Pose of Monocular Vision and Laser Ranging Location System

  • 摘要: 为了简化机器人单目视觉-激光测距定位系统的标定过程,提出一种机器人定位系统快速标定方法。通过一次标定实验即可同时完成相机参数、相机畸变参数以及手眼关系的标定,并利用手眼关系对激光测距传感器进行标定。同时,为了提高系统的标定和定位精度,提出一种基于激光测距传感器的机器人定位系统姿态校正方法,通过建立姿态校正模型求解姿态修正角,并在此基础上对深度方向的测量误差进行补偿。实验结果表明,提出的标定方法和姿态校正方法具有简单、准确和可靠的特点,满足机器人脱模系统的定位精度要求。
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出版历程
  • 收稿日期:  2016-08-22
  • 刊出日期:  2017-12-15

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