Position and orientation measurement using monocular camera-ultrasonic sensor configuration mounted on robot
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摘要: 介绍了用单个CCD摄像机和超声传感器相结合检测物体位姿的方法.首先由CCD摄像机采集一幅图像,获取物体上目标点在图像坐标系中的理想坐标,并由此确定该点投影矢量(连接物体点和对应图像点的直线)的方向;然后控制机器人运动,使超声传感器的z轴与求得的投影矢量重合;最后用超声传感器测出投影矢量的长度,确定目标点在摄像机坐标系中的坐标.分析了影响检测精度的主要因素,具体研究了超声传感器的安装参数对检测精度的影响规律,进行了仿真分析.该方法可以有效地降低图像处理所带来的巨大数据量,避开双目视觉中的图像匹配问题,快捷、精确检测物体的位姿.Abstract: A method was proposed for measuring the position and orientation of objects using monocular CCD camera and a ultrasonic sensor. Firstly, in the image coordinate, the undistorted coordinates of the desired point on objects was obtained from one image captured by the CCD camera, from which the orientation of the projection vector (the line connecting the object point and its image) was obtained. Then, by moving the robot, let the z axis of the ultrasonic sensor coincide with the orientation of the projection vector; lastly, the length of the vector was measured using the ultrasonic sensor, and the point coordinates in the camera coordinate system were calculated. The mainly factors that affected the measurement accuracy were analyzed, the influence of mounting parameters of the ultrasonic sensor was discussed and simulations were given. The position and orientation of objects can be measured rapidly and accurately with low computation cost and the avoidance of the image matching in stereo vision.
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Key words:
- monocular camera /
- ultrasonic sensor /
- position-orientation measurement /
- error analysis
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