单目视觉-激光测距定位系统的标定与姿态校正
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摘要
为了简化机器人单目视觉-激光测距定位系统的标定过程,提出一种机器人定位系统快速标定方法。通过一次标定实验即可同时完成相机参数、相机畸变参数以及手眼关系的标定,并利用手眼关系对激光测距传感器进行标定。同时,为了提高系统的标定和定位精度,提出一种基于激光测距传感器的机器人定位系统姿态校正方法,通过建立姿态校正模型求解姿态修正角,并在此基础上对深度方向的测量误差进行补偿。实验结果表明,提出的标定方法和姿态校正方法具有简单、准确和可靠的特点,满足机器人脱模系统的定位精度要求。
In order to simplify the calibration process of a robot' s monocular vision and laser ranging location system,a rapid calibration method is proposed for a robot's location system.The calibration of camera parameters,camera distortion parameters and eye-hand relation is performed with only one calibration experiment,and the laser ranging sensor is calibrated through the eye-hand relation.Besides,to improve the validity of calibration and location,a pose correction method for the robot' s location system based on the laser ranging sensor is proposed;then a pose correction model is established to solve the pose correction angle,and the depth direction measurement error is compensated with the pose correction method.The experimental results prove that the calibration and pose correction method proposed in the paper is simple,correct and reliable,meeting the requirements for the location precision of a robot's de-mold system.
In order to simplify the calibration process of a robot' s monocular vision and laser ranging location system,a rapid calibration method is proposed for a robot's location system.The calibration of camera parameters,camera distortion parameters and eye-hand relation is performed with only one calibration experiment,and the laser ranging sensor is calibrated through the eye-hand relation.Besides,to improve the validity of calibration and location,a pose correction method for the robot' s location system based on the laser ranging sensor is proposed;then a pose correction model is established to solve the pose correction angle,and the depth direction measurement error is compensated with the pose correction method.The experimental results prove that the calibration and pose correction method proposed in the paper is simple,correct and reliable,meeting the requirements for the location precision of a robot's de-mold system.
引文
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[15]Miyagawa I,Arai H,Koike H.Simple camera calibration from a single image using five points on two orthogonal1-D objects[J].IEEE Transactions on Image Processing,2010,19(6):1528-1538
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[17]Zhang Z Y.Camera calibration with one-dimensional objects[J].IEEE Transaction on Pattern Analysis and Machine Intelligence,2004,26(7):892-899
[18]Datta A,Kim J S,Kanade T.Accurate camera calibration using iterative refinement of control points[C]//IEEE12th International Conference on Computer Vision Workshops.Kyoto,Japan:IEEE,2009:1201-1208
[19]高峰,刘涛,王书宏,等.利用图像校正的快速目标识别算法[J].计算机工程与应用,2011,47(3):149-153Gao F,Liu T,Wang S H,et al.Fast target recognition algorithm using image calibration[J].Computer Engineering and Applications,2011,47(3):149-153(in Chinese)
[2]张子淼,王鹏,孙长库.单目视觉位姿测量方法及数字仿真[J].天津大学学报,2011,44(5):440-444Zhang Z M,Wang P,Sun C K.Position and orientation measurement method with monocular vision and digital simulation[J].Journal of Tianjin University,2011,44(5):440-444(in Chinese)
[3]晁志超,伏思华,姜广文,等.单目摄像机-激光测距传感器位姿测量系统[J].光学学报,2011,31(3)Chao Z C,Fu S H,Jiang G W,et al.Mono camera and laser rangefinding sensor position-pose measurement system[J].Acta Optica Sinica,2011,31(3)(in Chinese)
[4]刘佳君,孙振国,张文增,等.基于平面约束的欠驱动爬壁机器人手眼标定方法[J].机器人,2015,37(3):271-276,285Liu J J,Sun Z G,Zhang W Z,et al.Plane-constraint based hand-eye calibration method for underactuated wall-climbing Robot[J].Robot,2015,37(3):271-276,285(in Chinese)
[5]魏振忠,张博,张广军.双机器人系统的快速手眼标定方法[J].光学精密工程,2011,19(8)Wei Z Z,Zhang B,Zhang G J.Rapid hand-eye calibration of dual robot system[J].Optics and Precision Engineering,2011,19(8)(in Chinese)
[6]胡小平,左富勇,谢珂.微装配机器人手眼标定方法研究[J].仪器仪表学报,2012,33(7):1521-1526Hu X P,Zuo F Y,Xie K.Research on hand-eye calibration method for micro-assembly robot[J].Chinese Journal of Scientific Instrument,2012,33(7):1521-1526(in Chinese)
[7]Tsai R Y,Lenz R K.A new technique for fully autonomous and efficient 3D robotics hand/eye calibration[J].IEEE Transactions on Robotics and Automation,1989,5(3):345-357
[8]Shiu Y C,Ahmad S.Calibration of wrist-mounted robotic sensors by solving homogeneous transform equations of the form AX=XB[J].IEEE Transactions on Robotics and Automation,1989,5(1):16-29
[9]许海霞,王耀南,万琴,等.一种机器人手眼关系自标定方法[J].机器人,2008,30(4):373-378Xu H X,Wang Y N,Wan Q,et al.A Self-calibration Approach to hand-eye relation of robot[J].Robot,2008,30(4):373-378(in Chinese)
[10]曹毓,冯莹,赵立双,等.相机姿态安装误差对单目视觉定位精度的影响[J].传感器与微系统,2012,31(12):23-26,30Cao Y,Feng Y,Zhao L S,et al.Effect of attitude installation error of camera on precision of monocular visual odometry[J].Transducer and Microsystem Technologies,2012,31(12):23-26,30(in Chinese)
[11]李延风,安志勇,王劲松,等.基于机器视觉的红外瞄具零位走动量检测系统[J].光学学报,2014,34(11)Li Y F,An Z Y,Wang J S,et al.Measuring system of infrared sight zero variable quantity based on machine vision[J].Acta Optica Sinica,2014,34(11)(in Chinese)
[12]Nourani-Vatani N,Roberts J,Srinivasan M V.IMU aided 3D visual odometry for car-like vehicles[C]//Proceedings of the 2008 Australasian Conference on Robotics&Automation,Canberra,ACT,Australia:Australian Robotics and Automation Association,2008
[13]朱伟东,曹良洪,梅标,等.利用圆心不对称投影精确标定工业相机[J].光学精密工程,2014,22(8):2267-2273Zhu W D,Cao L H,Mei B,et al.Calibration of industrial cameras using asymmetric circle center projection[J].Optics and Precision Engineering,2014,22(8):2267-2273(in Chinese)
[14]赵连军.基于目标特征的单目视觉位置姿态测量技术研究[D].成都:中国科学院研究生院(光电技术研究所),2014Zhao L J.Research on mono-vision pose measurement based on features of target[D].Chengdu:Institute of Optics and Electronics of Chinese Academy of Sciences,2014(in Chinese)
[15]Miyagawa I,Arai H,Koike H.Simple camera calibration from a single image using five points on two orthogonal1-D objects[J].IEEE Transactions on Image Processing,2010,19(6):1528-1538
[16]He J,Xu J Y,Yao X.Solving equations by hybrid evolutionary computation techniques[J].IEEE Transactions on Evolutionary Computation,2000,4(3):295-304
[17]Zhang Z Y.Camera calibration with one-dimensional objects[J].IEEE Transaction on Pattern Analysis and Machine Intelligence,2004,26(7):892-899
[18]Datta A,Kim J S,Kanade T.Accurate camera calibration using iterative refinement of control points[C]//IEEE12th International Conference on Computer Vision Workshops.Kyoto,Japan:IEEE,2009:1201-1208
[19]高峰,刘涛,王书宏,等.利用图像校正的快速目标识别算法[J].计算机工程与应用,2011,47(3):149-153Gao F,Liu T,Wang S H,et al.Fast target recognition algorithm using image calibration[J].Computer Engineering and Applications,2011,47(3):149-153(in Chinese)