基于多傳感器信息融合的物體位姿檢測(cè)方法

提出了利用攝像機(jī)和超聲傳感器信息融合對(duì)機(jī)器人操作對(duì)象進(jìn)行位姿檢測(cè)的方法。該方法通過單幅圖像獲取目標(biāo)點(diǎn)在圖像中的理想坐標(biāo),求得投影矢量的方向,然后通過機(jī)器人末端的運(yùn)動(dòng),導(dǎo)引超聲傳感器坐標(biāo)原點(diǎn)與未移動(dòng)前攝像機(jī)坐標(biāo)系的原點(diǎn)重合,而其Z 軸方向與求得的投影矢量方向相同,再由超聲傳感器測(cè)出投影矢量的長度,從而確定目標(biāo)點(diǎn)在攝像機(jī)坐標(biāo)系中的坐標(biāo),并可進(jìn)一步轉(zhuǎn)換到機(jī)器人基坐標(biāo)系中。通過測(cè)量操作物體上兩點(diǎn)的空間坐標(biāo),就能夠確定物體空間姿態(tài)。該方法簡單易行,計(jì)算量小,精度較高。
關(guān)鍵詞: 攝像機(jī); 超聲傳感器; 位姿檢測(cè); 信息融合
中圖分類號(hào): TP242 ; TP212 　　　文獻(xiàn)標(biāo)識(shí)碼:A
Abstract : A new method is proposed for measuring the position and orientation of objects using 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 coin2 cide with the orientation of the projection vector , and then obtain the length of the vector , so in the camera coordi2 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 sim2 ple , low computing payload and very accurate.

Key words : CCD camera ; ultrasonic sensor ; posing measure ; information fusing