Camera pose calibration method based on spatial point location information

Abstract

The invention discloses a camera pose calibration method based on spatial point location information. For a robot vision system with an independently-installed camera, a sphere is placed at the tail end of a robot to serve as a calibration object, then the robot is operated to change the position and posture of the sphere to move to different point locations, images and point clouds of table tennis balls at the tail end of the robot are collected; the sphere center is fitted to serve as a spatial point, and meanwhile the corresponding position and posture of the robot are recorded; then a transformation relation between a camera coordinate system and a robot base coordinate system is calculated by searching an equation relation between specific point position changes; the points collectedunder a camera coordinate system are converted into points under a robot base coordinate system, and directly achieving target grabbing of the robot based on visual guidance. According to the invention, the sphere is used as a calibration object, the operation is simple, flexible and portable, the tedious calibration process is simplified, and compared with a method for conversion by means of a calibration plate or a calibration intermediate coordinate system, the method has higher precision, and does not introduce an intermediate transformation relationship and excessive error factors.

Description

technical field [0001] The invention relates to a camera pose calibration method based on spatial point information. Specifically, it uses the position information of multiple sets of points in the robot and the camera coordinate system to solve the pose of the camera relative to the robot and complete the next point in the camera coordinate system. The position conversion to the robot coordinate system belongs to the field of robot vision technology, Background technique [0002] Modern industrial production has higher and higher requirements for repeatability, high precision, and intelligence. Manual operations will inevitably lead to deviations, and a large number of repetitive tasks also cause waste of manpower and resources. In recent years, with the development of intelligent manufacturing technology, robots have been increasingly applied to various fields of production and life. In order to improve the autonomy and intelligence of its operations, machine vision is gr...

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Problems solved by technology

[0004] The invention discloses a camera pose calibration method based on spatial point information, and its purpose is to solve the problem of cumbersome operation and limited accuracy of the existing calibration method for a robot vision system with an independently installed camera, and quickly and accurately Calibrate the robot vision system, solve the pose of the camera relative to the robot base, convert the target position of the camera positioning to the robot base coordinate system, and realize the vision-based target grasping of the robot

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