摘要
利用圆柱激光照射在空间平面上呈椭圆状特性,证明了此椭圆状光斑在左右摄像机CCD成像平面上所形成的图像也是椭圆。由最小二乘椭圆拟合法得到椭圆光斑的5个独立参数,并建立空间平面与椭圆参数之间的关系,采用SWIFT算法进行搜索求解,无需特征点匹配,即可确定空间平面的位姿。算例结果表明,该方法是有效可行的。
Since the spot is elliptical when the cylindrical laser comes to the spatial plane, it proves that the laser spots in the CCD images, which are acquired by binocular stereo vision, are also elliptical. It describes that fitting laser spot to obtain 5 independent parameters based on the principle of least square ellipse and establishing the relationship between spatial plane and elliptical parameters. With the use of SWIFT search algorithm, the pose of spatial plane can be determined without the match of feature points. The numerical results show that the method is effective and feasible.
出处
《机电产品开发与创新》
2009年第3期150-152,共3页
Development & Innovation of Machinery & Electrical Products
基金
江苏省自然科学基金(BK2007084)
关键词
激光斑点
双目立体视觉
平面定位算法
最小二乘椭圆
laser spot
binocular stereo vision
plane orientation algorithm
least square ellipse
