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基于亚像素的乒乓球机器人本体位姿视觉测量

, PP. 1571-1574

Keywords: 视觉测量,PnP算法,OI算法,位姿估计,亚像素精度,图像处理,机器人

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Abstract:

提出一种基于亚像素精度的特征点提取算法,结合P??P方法和OI算法计算乒乓球机器人本体的位姿.根据摄像机成像时弥散斑的近似高斯分布,以亚像素精度精确求取色标块的边缘,利用边缘直线交点得到高精度的角点作为特征点.基于P??P算法利用上述特征点求取机器人位姿的初值,再通过OI算法进行优化,以保证其姿态矩阵的正交性.实验结果表明,该方法能快速准确地实现机器人本体的位姿测量.

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