中国机械工程2018，Vol.29Issue(10)：1153-1158,1165,7.DOI:10.3969/j.issn.1004-132X.2018.10.004
基于镜面反射的手眼标定方法
Eye-on-Hand Calibration Method Based on Specular Reflection
摘要
Abstract
For the Eye-on-Hand calibration problems of eye-on-hand robots,a Eye-on-Hand calibration method was proposed based on specular reflection. Images were captured through specular reflection,and a linear solution algorithm was used to determine the pose relationship between ends of the robot and camera coordinate system according to the image theory. In contrast to the conventional calibration method,this method only needed to change the attitudes of plane mirrors 3 times,and might simultaneously get the camera' s internal parameters and pose relationship of the Eye-on-Hand vision systems. It will eliminate robot motion errors caused by the robot's motion parameters in traditional calibration methods. Finally,compared with the Halcon Eye-on-Hand calibration algorithm,the correctness and feasibility of the proposed method were verified.关键词
手眼系统/镜面反射/镜像原理/标定Key words
Eye-on-Hand/specular reflection/image theory/calibration分类
信息技术与安全科学引用本文复制引用
张旭,贾君慧,张刚..基于镜面反射的手眼标定方法[J].中国机械工程,2018,29(10):1153-1158,1165,7.基金项目
国家自然科学基金资助项目(51575332,61673252)；科技部重点研究项目(2016YFC0302401) （51575332,61673252）
