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基于模板识别的高精度自动定位系统

刘荣 彭艳敏 唐粲 毛建

刘荣, 彭艳敏, 唐粲, 等 . 基于模板识别的高精度自动定位系统[J]. 北京航空航天大学学报, 2012, 38(6): 804-809.
引用本文: 刘荣, 彭艳敏, 唐粲, 等 . 基于模板识别的高精度自动定位系统[J]. 北京航空航天大学学报, 2012, 38(6): 804-809.
Liu Rong, Peng Yanmin, Tang Can, et al. High-accuracy automatic locating system based on templates[J]. Journal of Beijing University of Aeronautics and Astronautics, 2012, 38(6): 804-809. (in Chinese)
Citation: Liu Rong, Peng Yanmin, Tang Can, et al. High-accuracy automatic locating system based on templates[J]. Journal of Beijing University of Aeronautics and Astronautics, 2012, 38(6): 804-809. (in Chinese)

基于模板识别的高精度自动定位系统

基金项目: 江苏省科技项目(BE2009078)
详细信息
  • 中图分类号: TP391

High-accuracy automatic locating system based on templates

  • 摘要: 为满足机器人辅助 医疗手术中高精度自动识别物体的需要,利用Bumblebee 2 摄像头拍摄图像,把黑白交互的椭圆和圆作为一个模板,用改进的角点提取方法提取出图像中的角点;在对图像进行增强之后,利用模板黑白格的几何对称性特征提取模板中的角点,然后区分出椭圆中的角点和圆中的角点,最后利用向量垂直关系提取出椭圆中的目标角点,识别出模板.通过Bumblebee 2自带的深度函数,提取模板的深度,得到模板在摄像头空间中的坐标,达到高精度自动定位物体的目的,克服传统摄像机需要标定内外参数的步骤.实验表明,定位误差在0.42 mm之内,基本上可以满足手术的要求.

     

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出版历程
  • 收稿日期:  2011-03-12
  • 网络出版日期:  2012-06-30

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