Research of Stereo Positioning System Based on Robot Hand-eye Vision

摘要

Stereo positioning system is studied based on robot hand-eye vision, and system calibration consists of camera calibration and hand-eye geometric relation calibration, a method of simultaneously realizing the two ones is presented in this paper. The key content of the method is that the camera internal parameters and the rotate part of hand-eye relation are integrated into a whole matrix. However, there is not any restriction to the course of system positioning, a camera can take images at any pose and needn''t recalibration. Additionally, the implement of the method is very simple, only need take two images from which the system can be calibrated for three known points at different position. This method simplifies the complicated process of robot hand-eye system calibration and improves the positioning precision, meanwhile, it extends the application range of hand-eye vision system