Dynamic target position and attitude measurement method based on monocular vision at tail end of mechanical arm

Abstract

The invention relates to a dynamic target position and attitude measurement method based on monocular vision at the tail end of a mechanical arm and belongs to the field of vision measurement. The method comprises the following steps: firstly calibrating with a video camera and calibrating with hands and eyes; then shooting two pictures with the video camera, extracting spatial feature points in target areas in the pictures by utilizing a scale-invariant feature extraction method and matching the feature points; resolving a fundamental matrix between the two pictures by utilizing an epipolar geometry constraint method to obtain an essential matrix, and further resolving a rotation transformation matrix and a displacement transformation matrix of the video camera; then performing three-dimensional reconstruction and scale correction on the feature points; and finally constructing a target coordinate system by utilizing the feature points after reconstruction so as to obtain the position and the attitude of a target relative to the video camera. According to the method provided by the invention, the monocular vision is adopted, the calculation process is simplified, the calibration with the hands and the eyes is used, and the elimination of error solutions in the measurement process of the position and the attitude of the video camera can be simplified. The method is suitable for measuring the relative positions and attitudes of stationery targets and low-dynamic targets.

Description

technical field [0001] The invention relates to a dynamic target position and attitude measurement method based on monocular vision at the end of a mechanical arm, belonging to the field of visual measurement. Background technique [0002] In recent years, visual measurement technology has been deeply developed and widely used in industrial inspection, robot vision, real-time measurement and other processes. The use of binocular vision and monocular vision is a relatively common method. Compared with binocular vision, monocular vision not only overcomes the constraint of fixed baseline in binocular vision, but also installs the monocular camera at the end of the carrier, which can measure different characteristic parts of the target through the movement of the carrier without occlusion . [0003] However, the existing monocular vision measurement methods all assume that the scene is still, that is, the manipulator platform and the measured target are both stationary in the ...

Images