Research on Three-Dimensional Space Positioning Algorithm for Monocular Based on Tricolor Sphere
In order to realize robot welding without fixtures,the three-dimensional space positioning method of monocular camera based on three-color balls was proposed to solve the problem that traditional monocular cameras cannot achieve three-dimensional spatial positioning in this paper,which uses the geometric invariance of ball imaging at any angle and combines the radius information of the ball to extract the depth information of the ball.The color filtering was introduced in the positioning algorithm to simplify the identification of three-color balls,the Hough circle detection algorithm was modified,and the identification accuracy of three-color balls was improved.The calcu-lation model of the depth information of the ball was researched,and the relevant formulas were derived to realize the calculation of the three-dimensional coordinates of the ball under the monocular camera.The welding workpiece posi-tioning model based on three standard balls was established,and the welding workpiece was positioned by the standard balls set at the three positioning points of the workpiece.Based on the three-dimensional micro-displacement plat-form,an experimental platform for positioning accuracy detection was designed,and related experiments were carried out.The experimental results show that the positioning error of the three-dimensional space positioning algorithm is within±0.24mm,which meets the positioning accuracy requirements of weld workpiece..
Monocular cameraThree-dimensional space positionTricolor sphereColor filterHough circle
NETL
NSTL
万方数据
