摘要
针对工业机器人基于位置的视觉伺服控制需要获取目标物位姿信息的问题,提出了一种简便的检测方法。将相机拍摄的图像从三原色(RGB)空间转换到HSV空间,利用目标物与背景的HSV信息有显著差异的特点分离出目标物所在区域。对该区域进行边缘检测,根据霍夫变换的结果和一些先验知识筛选出目标物的特征边缘及特征点。通过相机标定提前获取相机的内外参数,用这些参数将特征点的像素坐标转化为用户坐标,进而逐步求出目标物在用户坐标系下的位姿信息。以检测方形物体为例进行了多组实验,结果显示单次检测时间在0.4 s左右,平均检测误差不超过2 mm。
Aiming at problem that position-based visual servo control of industrial robots needs to acquire position and pose information of object,a simple detection method is proposed.The image captured by camera is transformed from RGB space to HSV space,and the region where the object is located is separated by the feature that the HSV information of the object and the background is significantly different.Edge detection is carried out in this region,and feature edges and feature points of the target are selected according to the results of Hough transform and some prior knowledge.Internal and external parameters of camerain is obtained in advance.With these parameters,the pixel coordinates of the feature points are transformed into user coordinates,and then the position and pose information of the object in user coordinates is obtained step by step.Taking the detection of square objects as an example,a number of experiments are carried out.The results show that the single detection time is about 0.4 s,and the average error of detection is less than 2 mm.
作者
王寿庭
鲁照权
马慧丽
WANG Shouting;LU Zhaoquan;MA Huili(School of Electrical Eengineering and Automation,Hefei University of Technology,Hefei 230009,China)
出处
《传感器与微系统》
CSCD
北大核心
2021年第4期150-153,160,共5页
Transducer and Microsystem Technologies
基金
国家级大学生创新项目(2011710359008)
合肥工业大学产学研校企合作基金资助项目(W2016JSKF0467,W2016JSKF0468)。
关键词
视觉定位
目标检测
边缘检测
霍夫变换
相机标定
visual positioning
object detection
edge detection
Hough transform
camera calibration
