Camera pose calibration method and device of robot system and electronic equipment

Abstract

The invention provides a camera pose calibration method and device of a robot system and electronic equipment. A specific embodiment of the method comprises the following steps: acquiring a first rough pose of a calibration object in a first coordinate system and a second rough pose of a camera in a second coordinate system; setting a distance parameter from the camera to the calibration object, and setting a motion path point sequence of the mechanical arm; selecting a plurality of target waypoints from the motion waypoint sequence, determining a plurality of pose groups according to the target waypoints, the first rough pose and the second rough pose, wherein each pose group corresponds to one target waypoint, and each pose group comprises a third pose of the tail end of the mechanical arm under the base coordinate and a fourth pose of the calibration object under the camera coordinate system, wherein the third pose is obtained based on the corresponding target road point; and performing iterative calibration operation according to the plurality of pose groups to obtain a calibration value of a second rough pose when the cross validation error is smaller than a first error threshold. The method can improve the precision of the calibration result.

Description

technical field [0001] The present application relates to the technical field of computer networks, in particular, to a camera pose calibration method, device and electronic equipment for a robot system. Background technique [0002] In a robot system that includes a vision module, it is necessary to determine the relative positional relationship between the camera and the robot in order to correctly apply the image information obtained by the vision module to the robot system. The process of determining the above relative positional relationship is called hand-eye calibration. [0003] The hand-eye calibration process is usually divided into "eye-in-hand" (that is, the camera is located on the robot's mechanical arm) and "eye-in-hand" (that is, the camera is located outside the robot's mechanical arm, for example, the camera can be fixed to In the coordinate system that is fixed relative to the base of the manipulator) in two cases. When in the situation of "the eye is ou...

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Problems solved by technology

[0007] Although the above two methods can obtain the calibration results, the accuracy of the calibration results is low.

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