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Pickup camera self calibration method based on robot motion

A technology of robot motion and camera, applied in the direction of manipulator, manufacturing tool, etc., can solve the problem of limitation and strictness of camera motion

Inactive Publication Date: 2007-01-03
INST OF AUTOMATION CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The defect of the current camera self-calibration technology is that the restrictions on camera movement are relatively strict

Method used

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  • Pickup camera self calibration method based on robot motion
  • Pickup camera self calibration method based on robot motion
  • Pickup camera self calibration method based on robot motion

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0035] The camera calibrated in Example 1 has been applied to the seam tracking of the arc welding robot. The camera calibrated in Example 2 has been applied to the positioning and navigation of mobile robots.

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Abstract

A self-calibrating method based on the movement of robot for the camera installed to terminal end of robot includes choosing a point ni the visual field of camera as a characteristic origin point, arbitrarily moving the terminal end of robot several times without changing its posture to obtain more characteristic origin points, using the least square method to obtain the internal and external parameters of camera, changing its postures, obtaining several space straight line from the center of optical axis and the imaging dots on image plane, using their intersection point to calibrate the position of characteristic point in basic coordinate system, and calculating the external parameter of terminal end.

Description

technical field [0001] The invention relates to a camera calibration technology in the field of robot vision control, in particular to a method for obtaining internal and external parameters of a camera. Background technique [0002] Traditionally, the calibration reference object-target is used to calibrate the camera. Specifically, a calibration reference object of known shape and size is placed in front of the camera, and the internal and external parameters of the camera are calculated by measuring the imaging position of the reference object on the image plane. . In practical applications, it is not allowed to place a specific calibration reference object in the environment in many cases. Therefore, the camera calibration technology (ie, self-calibration technology) that does not require a specific calibration reference object has received more and more attention. This technology is used in robots. It has broad application prospects in hand-eye system and head-hand sys...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J13/08
Inventor 徐德谭民
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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