CAJ | 학술논문

三维视觉定位是基于位置的机器人视觉伺服的重要步骤，直接影响到系统的控制精度。本文针对眼固定式双目视觉机器人，提出了一种基于基坐标系的直接视觉定位方法，通过点-极线对建立齐次线性方程组以求解包含了双摄像机相对位置等信息的基本矩阵，再根据基本矩阵的性质将其分解为双摄像机相对于机器人基坐标系的投影矩阵，进而通过由空间平面确定的直线方程直接进行基于基坐标系的重建。该方法简单直接易于实现，相关实验通过将重建得到的坐标与实际坐标相比较，验证了该定位方法的精确性和有效性。
삼유시각정위시기우위치적궤기인시각사복적중요보취，직접영향도계통적공제정도。본문침대안고정식쌍목시각궤기인，제출료일충기우기좌표계적직접시각정위방법，통과점-겁선대건립제차선성방정조이구해포함료쌍섭상궤상대위치등신식적기본구진，재근거기본구진적성질장기분해위쌍섭상궤상대우궤기인기좌표계적투영구진，진이통과유공간평면학정적직선방정직접진행기우기좌표계적중건。해방법간단직접역우실현，상관실험통과장중건득도적좌표여실제좌표상비교，험증료해정위방법적정학성화유효성。
3D visual positioning is very important in position-based visual servoing for robot, directly affecting the control precision of the system. According to the robot with eye-to-hand and stereovision system, a direct method of visual positioning is proposed based on base coordinate system. It utilizes the corresponding relation of point to epipolar to establish homogeneous linear equations, for getting the fundamental matrix contained the relationship of relative position of two cameras. According to the properties of fundamental matrix, it is decomposed into projection matrix of two cameras relative to the base coordinate system of robot, so the method can reconstruct in the base coordinate system directly by equations of lines determined by planes in space. The method is simple and easy to be realized and the related experiment compared the measured coordinates with the actual coordinates, which shows that accuracy and efficiency of the method.