STM32的单目视觉室内平面跟踪定位.pdfVIP

STM32的单目视觉室内平面跟踪定位 姚万业。贾昭鑫 (华北电力大学自动化学院，保定071003) 摘要：针对室内平面移动物体的定位，提出了一种基于STM32的单目视觉室内平面跟踪定位方式。在平面内放置标定 点，通过标定，求取出图像坐标系与世界坐标系实际的对应关系，实时追踪图像坐标系，依照对应关系推算出实际位置。 为了验证该方法的有效性，采用比对平面移动物体与特定点误差的方法，同时直观地观测对应点之间的距离关系。实验 中测得的移动位置与实际位置相对误差小于1．5％，对于精度要求一般的室内定位需求有着较高的实用性。 关键词：单Ig视觉；STM32；相机标定；平面定位 中图分类号：TP242．6 文献标识码：A MonocularVisionPlane BasedonSTM32 Positioning Yao Zhaoxin Wanye，Jia (NorthChinaElectricPower 071003，China) University，Baoding vision methodis based atthe aboutthe onthe monocu[ar Abstract：Aimingproblem objectpositioningplane，a planepositioningproposed isobtained the on betweenthe coordinateandtheworldcoordinate STM32．The image system system through correspondingrelationship coordinatein actuallocationisobtained tothe relation— marker the real—time，the accordingcorresponding point．Bytrackingimage system the distancebetweenthe is observed orderto the of method，the directly through ship．In verifyvalidity correspondingpoints relativeerrorofthe islessthan the re— theerrorbetweenthe andthe 1．5％in movingobject specificpoint．The target experimental plane verifiestheeffectivenessofthe method．Ithasa forthe withalowdemand suit，which proposed veryhighpracticabilityplanepositioning of accuracy． words：monocula