A monocular vision system based on the equidistance pseudo binocular feature recognition

摘要

Monocular vision system for medical robot must have high accuracy. In traditional monocular vision system, localization algorithm is realized by image space transformation, which leads to a trivial calculation process and a complex camera calibration method, therefore, this paper presents a new target characteristics identification method. Through the establishment of an equidistance pseudo binocular image acquisition way, searching the image and space coordinate transformation relation, avoid the complicated space matrix conversion and improve the position precision. Using Pointer method for image processing and customized backtracking boundary conditions for image searching, this paper realizes the curve fitting of target features boundary, and pattern recognition. Finally, an experiment is completed to guide the pharmacy movement of the Staubli TX40 arm, whose software runs within 200 ms and location error is less in 0.2 mm, verifies the validity of the algorithm.