Calculation method, device and equipment of coordinate transformation matrix and readable storage medium

Abstract

The invention discloses a calculation method, device and equipment of a coordinate transformation matrix and a readable storage medium. The method comprises the following steps: acquiring first coordinate data of a feature point of a target object in a reference coordinate system and second coordinate data in a coordinate system to be calibrated; establishing a coordinate conversion equation according to the first coordinate data and the second coordinate data, wherein the coordinate conversion equation comprises a rotation matrix and a translation vector; the rotation matrix comprises a rotation angle to be optimized, and the translation vector comprises a translation parameter to be optimized; establishing a target function according to the coordinate conversion equation; performing iterative calculation on the target function according to the initial value of the rotation angle to be optimized, the initial value of the translation parameter to be optimized and the initial value of the iteration parameter until an iteration termination condition is met, and obtaining a first update value of the rotation angle to be optimized and a second update value of the translation parameter to be optimized; and calculating a coordinate transformation matrix according to the first update value of the to-be-optimized rotation angle and the second update value of the to-be-optimized translation parameter.

Description

technical field [0001] The present application relates to the technical field of data processing, and in particular to a calculation method, device, equipment and readable storage medium of a coordinate transformation matrix. Background technique [0002] Guiding the robotic arm through vision and other guidance sensors for automated operations can effectively replace manual repetitive, heavy, high-intensity, and high-risk operations, and mechanical operations have higher and more consistent quality control, so in 3C electronics, automobiles and other smart The manufacturing industry has great application potential. One of the prerequisites for the robotic arm to perform automated operations according to the preset program is to determine the relative pose between the robotic arm, (visual, etc.) guidance sensors, the operating position, and the operating object. In practical application, when this precondition is realized, it is necessary to measure (visually, etc.) the fea...

AI Technical Summary

Problems solved by technology

However, in this step-by-step method of solving the rotation matrix and translation vector, the calibration error of the rotation matrix will be accumulated in the calculation of the translation vector, resulting in a decrease in the calculation accuracy of the translation vector; and, due to the machine vision algorithm package, the calibration problem is transformed into a pure Solving mathematical problems makes the algorithm lose its intuition and comprehensibility

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