基于多传感器信息融合的物体位姿检测方法.pdfVIP

　第 23 卷 　第 5 期 航 　空 　学 　报 Vol 23 No 5 　2002 年 　　 9 月 ACTA AERONAU TICA ET ASTRONAU TICA SIN ICA Sep 　2002 文章编号 (2002) 　　 基于多传感器信息融合的物体位姿检测方法 丁希仑 , 解玉文 , 战 　强 (北京航空航天大学 机器人研究所 ,北京 　100083) NEW METHOD TO MEASURE THE POSITION AND ORIENTATION OF OBJECT USING MULTIPL E SENSOR FUSING TECHNOLOGY DIN G Xilun , XIE Yuwen , ZHAN Qiang ( jin g University of Aeronautics Astronautics , Beijin g 　100083 , China) Robotics Research Institute , Bei 摘 　要 : 提出了利用摄像机和超声传感器信息融合对机器人操作对象进行位姿检测的方法。该方法通过单 幅图像获取目标点在图像中的理想坐标 ,求得投影矢量的方向 ,然后通过机器人末端的运动 ,导引超声传感器 坐标原点与未移动前摄像机坐标系的原点重合 ,而其 Z 轴方向与求得的投影矢量方向相同 ,再由超声传感器 测出投影矢量的长度 ,从而确定目标点在摄像机坐标系中的坐标 ,并可进一步转换到机器人基坐标系中。通 过测量操作物体上两点的空间坐标 ,就能够确定物体空间姿态。该方法简单易行 ,计算量小 ,精度较高。 关键词 : 摄像机 ; 超声传感器 ; 位姿检测 ; 信息融合 中图分类号: TP242 ; TP212 　　　文献标识码 :A Abstract : A new method is proposed for measuring the position and orientation of objects usin g CCD and Ultrasonic sensor. Based on this method , one can calculate the orientation of theprojection vector using the undistorted desired point coordinates obtained from one image , then by moving the robot ,make the original point of the ultrasonic sen sor cordinate system coincide with the one of the CCD condinate system not having moved , and let its Z axis coin cide with the orientation of the projection vector , and then obtain the length of the vector , so in the camera coordi nate system one can get the point coordinates which can be transformed into the base coordinate system of the robot. Using the coordinates of two points on the object ,one can gain its orientation completely. This new method is sim ple , low computing payload and very accurate.