机器人视觉引导中标定参数同步求解方法
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摘要
在分析机器人视觉引导中各坐标系转换关系的基础上,提出一种基于最大似然估计的非线性机器人视觉引导标定参数的计算方法,该方法根据最大似然估计构造计算过程中矩阵变换测度函数,采用Levenberg-Marquardt算法求解非线性最小二乘问题,可一次性求解出摄像机标定参数和手眼标定参数。通过数值仿真和真实机器人标定实验,将计算结果与经典标定方法的计算结果进行了比较。结果表明:提出的算法相对于经典算法在估计误差、对噪声的敏感度和稳定性方面均有所提高。
Based on the analysis of the transformation relationship of coordinate systems in the visual guidance of the robot, a nonlinear calculation method for calibrated parameters based on the maximum likelihood estimation was proposed by constructing the matrix transformation measure function. Levenberg-Marquardt algorithm, widely used to solve the nonlinear least squares problem, was applied to solve parameters for camera calibration and hand-eye calibration at one time. Through the numerical simulation and the in-site calibration, the results were compared with those from classical method. The results show that the proposed algorithm has reduced the estimation error and the noise sensitivity and improved stability compared with the classical algorithm.
Based on the analysis of the transformation relationship of coordinate systems in the visual guidance of the robot, a nonlinear calculation method for calibrated parameters based on the maximum likelihood estimation was proposed by constructing the matrix transformation measure function. Levenberg-Marquardt algorithm, widely used to solve the nonlinear least squares problem, was applied to solve parameters for camera calibration and hand-eye calibration at one time. Through the numerical simulation and the in-site calibration, the results were compared with those from classical method. The results show that the proposed algorithm has reduced the estimation error and the noise sensitivity and improved stability compared with the classical algorithm.
引文
[1]张广军.视觉测量[M].北京:科学出版社,2008.
[2]张广军.机器视觉[M].北京:科学出版社,2005.
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[8]WANG C C.Extrinsic Calibration of a Robot Sensor Mounted on a Robot[J].IEEE Transactions on Robotics and Automation,1992,8(2):161-175.
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[10]DANIILIDIS K.Hand-eye Calibration Using Dual Quaternions[J].The International Journal of Robotics Research,1999,18(3):286-298.
[11]STROBL K H,HIRZINGER G.Optimal Hand-eye Calibration[C]//Proceedings of the 2006 IEEE RSJ International Conference on Intelligent Robots and System.Piscataway,NJ,USA:IEEE,2006:4647-4653.
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[13]ZHAO Z.Hand-eye Calibration Using Convex Optimization[C]//Proceedings of IEEE International Conference on Robotics & Automation.IEEE,2011:2947-2952.
[14]MALTI A,BARRETO J P.Robust Hand-eye Calibration for Computer Aided Medical Endoscopy[C]//Proceedings of IEEE International Conference on Robotics and Automation.IEEE,2010:5543-5549.
[15]IKEUCHI K.Computer Vision:A Reference Guide[M].Berlin:Springer Link Press,2016:355-358.
[2]张广军.机器视觉[M].北京:科学出版社,2005.
[3]司绍华,马颂德.基于二次曲线的立体视觉[J].自动化学报,1993,19(4):420-427.SI S H,MA S D.Quadric Curve Based Stereo Vision[J].Acta Automatica Sinica,1993,19(4):420-427.
[4]MAYBANK S J,FAUGERAS O D.A Theory of Self-calibration of a Moving Camera[J].International Journal of Computer Vision,1992,8(2):123-151.
[5]ZHANG Z.A Flexible New Technique for Camera Calibration[J].IEEE Transactions on Pattern Analysis & Machine Intelligence,2000,22(11):1330-1334.
[6]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.
[7]CHOU J C K,KAMEL M.Finding the Position and Orientation of a Sensor on a Robot Manipulator Using Quaternions[J].International Journal of Robotics Research,1991,10(3):240-254.
[8]WANG C C.Extrinsic Calibration of a Robot Sensor Mounted on a Robot[J].IEEE Transactions on Robotics and Automation,1992,8(2):161-175.
[9]PARK F C,MARTIN B J.Robot Sensor Calibration:Solving AX=XB on the Euclidean Group[J].IEEE Transactions on Robotics and Automation,1994,10(5):717-721.
[10]DANIILIDIS K.Hand-eye Calibration Using Dual Quaternions[J].The International Journal of Robotics Research,1999,18(3):286-298.
[11]STROBL K H,HIRZINGER G.Optimal Hand-eye Calibration[C]//Proceedings of the 2006 IEEE RSJ International Conference on Intelligent Robots and System.Piscataway,NJ,USA:IEEE,2006:4647-4653.
[12]TSAI R Y,LENZ R K.A New Technique for Fully Autonomous and Efficient 3D Robotics Hand-eye Calibration[C]//Proceedings of International Symposium on Robotics Research.MIT Press,1988:287-297.
[13]ZHAO Z.Hand-eye Calibration Using Convex Optimization[C]//Proceedings of IEEE International Conference on Robotics & Automation.IEEE,2011:2947-2952.
[14]MALTI A,BARRETO J P.Robust Hand-eye Calibration for Computer Aided Medical Endoscopy[C]//Proceedings of IEEE International Conference on Robotics and Automation.IEEE,2010:5543-5549.
[15]IKEUCHI K.Computer Vision:A Reference Guide[M].Berlin:Springer Link Press,2016:355-358.