Research on Measuring the Micro-table Position and Pose Based on Binocular Vision

摘要

Position and pose measurement is an important issue in the field of robot navigation, operation and assembly as well as other fields such as photogrammetry, computer vision, computer graphics and other disciplines. The micro-table as a machine tool, one of the key components for improving the processing quality of the product plays a particularly role. However, in certain circumstances, we could not continuously and steady proceed relying on the naked eye when precisely and rapidly measure the small size, color matching and identification and so on, and the existing detection methods are difficult to balance the contradiction between the speed and accuracy. This paper puts forward a measurement method of detection 6-dof micro-table position and pose based on binocular vision. Using two CCD cameras measure 2D micro-table coordinates of the four corners of points from different angles, by coordinates transformation, we can calculate the 3D coordinates of the four corners of points; then we can solve the micro-table position and pose with the four corners of points.