基于双目立体视觉技术的运动物体空间位置信息测量方法研究

摘要

In order to make Delta robots rapidly and precisely pick objects with various heights which random appears in different locations of the conveyor belt,a measurement system is developed for getting the spatial position information of moving objects.The system realizes precisely measurement of the spatial position information of moving objects by using hybrid programming technology of LabVIEW and Matlab,combined with binocular stereo vision technology,image processing technology and photoelectric sensing equipment.The measurement method and test data of this measurement system are obtained and analyzed,and the detection data shows that after image radial distortion correction,the data of spatial position information obtained by the system and method has little relative error.%为了使Delta机器人能够快速、准确地拾取随机出现在输送带不同位置上的不同高度的目标物体,设计了一套可获取运动目标物体空间位置信息的测量系统.利用LabVIEW与Matlab混合编程技术,同时结合双目立体视觉技术和图像处理技术以及光电传感设备,实现了对运动物体空间位置信息的准确获取.对该系统的测试方法和测试数据进行了实际检测和分析,检测数据表明,经过图像径向畸变矫正后,由该系统及测试方法获取的空间位置信息数据具有较小的相对误差.