基于双目立体视觉的目标定位

摘要

随着"中国2025"的提出,现代化的生产中机器视觉发挥着越来越重要的作用.基于视差原理的双目视觉具有定位三维空间信息的能力,在处理生产中的三维信息时比单目视觉具有更大的优势.为了更加准确的获得目标物体和成像图形的转换关系,本文在考虑镜头径向畸变和切向畸变的情况下,选用最小二乘法获取转换矩阵对双目立体视觉系统进行研究,并搭建实验平台使用机械手臂进行目标物体的实时抓取,实验结果验证了该方法的准确性和有效性.%With the announcement of the " Made in China 2025 " plan, machine vision plays more and more important roles in modern manufacturing, binocular vision, basing on the binocular parallax theory, can locate 3-D position, and has more advantage than monocular vision in processing 3-D information. With the consideration of radial distortion and tangential distortion, this paper studies the binocular vision system by the least square method to get the accurate conversion relation between the aim object and the imagery figure. The experimental system platform using robot to grasp objects in real time is constructed, and the result verify the accuracy and effectiveness of this method.