基于运动路径靶标的空间机器人视觉标定方法

张李俊, 黄学祥, 冯渭春, 胡天健, 梁书立

张李俊, 黄学祥, 冯渭春, 胡天健, 梁书立. 基于运动路径靶标的空间机器人视觉标定方法[J]. 机器人, 2016, 38(2): 193-199. DOI: 10.13973/j.cnki.robot.2016.0193
引用本文: 张李俊, 黄学祥, 冯渭春, 胡天健, 梁书立. 基于运动路径靶标的空间机器人视觉标定方法[J]. 机器人, 2016, 38(2): 193-199. DOI: 10.13973/j.cnki.robot.2016.0193
ZHANG Lijun, HUANG Xuexiang, FENG Weichun, HU Tianjian, LIANG Shuli. Space Robot Vision Calibration with Reference Objects from Motion Trajectories[J]. ROBOT, 2016, 38(2): 193-199. DOI: 10.13973/j.cnki.robot.2016.0193
Citation: ZHANG Lijun, HUANG Xuexiang, FENG Weichun, HU Tianjian, LIANG Shuli. Space Robot Vision Calibration with Reference Objects from Motion Trajectories[J]. ROBOT, 2016, 38(2): 193-199. DOI: 10.13973/j.cnki.robot.2016.0193
张李俊, 黄学祥, 冯渭春, 胡天健, 梁书立. 基于运动路径靶标的空间机器人视觉标定方法[J]. 机器人, 2016, 38(2): 193-199. CSTR: 32165.14.robot.2016.0193
引用本文: 张李俊, 黄学祥, 冯渭春, 胡天健, 梁书立. 基于运动路径靶标的空间机器人视觉标定方法[J]. 机器人, 2016, 38(2): 193-199. CSTR: 32165.14.robot.2016.0193
ZHANG Lijun, HUANG Xuexiang, FENG Weichun, HU Tianjian, LIANG Shuli. Space Robot Vision Calibration with Reference Objects from Motion Trajectories[J]. ROBOT, 2016, 38(2): 193-199. CSTR: 32165.14.robot.2016.0193
Citation: ZHANG Lijun, HUANG Xuexiang, FENG Weichun, HU Tianjian, LIANG Shuli. Space Robot Vision Calibration with Reference Objects from Motion Trajectories[J]. ROBOT, 2016, 38(2): 193-199. CSTR: 32165.14.robot.2016.0193

基于运动路径靶标的空间机器人视觉标定方法

基金项目: 

国家自然科学基金(11402004)

详细信息
    作者简介:

    张李俊(1991-),男,硕士生.研究领域:机器视觉和视觉测量.

    黄学祥(1970-),男,研究员,硕士生导师,研究领域:空间操作.

    通信作者:

    张李俊,zljun@mail.ustc.edu.cn

  • 中图分类号: TP391

Space Robot Vision Calibration with Reference Objects from Motion Trajectories

  • 摘要: 针对空间缺少标定靶标物的难题,基于空间机器人机械手的精确末端定位能力,提出了一种通过规划机械手运动路径生成靶标从而实现在轨视觉标定的方法.首先介绍了视觉标定方法的总体框架.然后对该标定方法进行了误差分析,根据棋盘靶标标定误差与控制点图像坐标误差满足线性关系的先验知识,推导了从机械手末端定位到控制点图像坐标的误差传递关系,并对两类误差进行合成得到了等效的控制点图像坐标误差.最后利用仿真实验验证了标定误差与等效误差满足线性关系,分析了靶标尺寸、相对距离、控制点密度和靶标结构因素对标定精度的影响.
    Abstract: For lack of reference objects in space, an on-orbit vision calibration method is proposed based on the precise localization of manipulator end of space robot, which generates reference objects through programming motion trajectories of the manipulator. Firstly, a general framework of the method is introduced. Secondly, error analysis is applied to the calibration method. According to the prior knowledge that the calibration error of the chessboard target is linear to the image coordinate error of the control point, the error transfer from localization of manipulator end to the image coordinate of the control point is derived, and an equivalent error of the image coordinate of the control point is further derived by the combination of the two kinds of errors. Finally, the linear relationship between the calibration error and the equivalent error is validated by simulation experiments, and the effects of reference object size, relative distance, control point density and structure factors on the accuracy of the proposed vision calibration method are analyzed.
  • [1] 梁斌, 杜晓东, 李成, 等.空间机器人非合作航天器在轨服务研究进展[J].机器人, 2012, 34(2):242-256.

    Liang B, Du X D, Li C, et al. Advances in space robot on-orbit servicing for non-cooperative spacecraft[J]. Robot, 2012, 34(2): 242-256.

    [2] 徐文福, 孟得山, 徐超, 等.自由漂浮空间机器人捕获目标的协调控制[J].机器人, 2013, 35(5):559-567.

    Xu W F, Meng D S, Xu C, et al. Coordinated control of a free-floating space robot for capturing a target[J]. Robot, 2013, 35(5): 559-567.

    [3]

    Tsai R Y. A versatile camera calibration technique for high-accuracy 3D machine vision metrology using off-the-shelf TV cameras and lenses[J]. IEEE Journal of Robotics and Automation, 1987, 3(4): 323-344.  

    [4]

    Zhang Z Y. A flexible new technique for camera calibration[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2000, 22(11): 1330-1334.  

    [5] 付生鹏, 赵吉宾, 夏仁波, 等.基于环形镜面的相机外部参数自动标定方法[J].机器人, 2015, 37(3):277-285.

    Fu S P, Zhao J B, Xia R B, et al. Annular mirror based extrinsic camera automatic calibration[J]. Robot, 2015, 37(3): 277-285.

    [6] 张雪波, 路晗, 方勇纯, 等.室外环境下 PTZ 摄像机全自动标定技术及其应用[J].机器人, 2013, 35(4):385-393.

    Zhang Y B, Lu H, Fang Y C, et al. An automatic calibration method for outdoor PTZ cameras and its applications[J]. Robot, 2013, 35(4): 385-393.

    [7] 郑红, 刘振强.基于精确模型的云台摄像机自标定[J].机器人, 2013, 35(3):326-331,338.

    Zheng H, Liu Z Q. Self-calibration of pan-tilt camera based on accurate model[J]. Robot, 2013, 35(3): 326-331,338.

    [8] 王宪, 谭建平, 陈国强, 等.基于主动视觉的测量装置精度校准方法[J].中南大学学报:自然科学版, 2014, 45(4):1071-1076.

    Wang X, Tan J P, Chen G Q, et al. Active vision-based accuracy calibration technology for measurement devices[J]. Journal of Central South University: Science and Technology, 2014, 45(4): 1071-1076.

    [9]

    Heikkila J. Geometric camera calibration using circular control points[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2000, 22(10): 1066-1077.  

    [10] 李春艳, 李怀峰, 孙才红.高精度星敏感器天文标定方法及观测分析[J].光学精密工程, 2006, 14(4):558-563.

    Li C Y, Li H F, Sun C H. Astronomical calibration method and observation analysis for high-accuracy star sensor[J]. Optics and Precision Engineering, 2006, 14(4): 558-563.

    [11] 戴东凯, 王省书, 胡春生, 等.基于天文观测的相机标定及姿态测量技术研究[J].光学学报, 2012, 32(3):100-104.

    Dai D K, Wang S S, Hu C S, et al. Camera calibration and attitude measurement technology based on astronomical observation[J]. Acta Optica Sinica, 2012, 32(3): 100-104.

    [12]

    MacLean S G, Pinkney H F L. Calibration procedures for the space vision system experiment[C]//Proceedings of the SPIE, Conference on Industrial Vision Metrology, vol.1526. Bellingham, USA: SPIE, 1991: 113-121.

    [13] 谭启蒙, 胡成威, 高升.空间机械臂视觉相机内参标定技术研究[J].航天返回与遥感, 2013, 34(6):74-80.

    Tan Q M, Hu C W, Gao S. Research on calibration of intrinsic parameters for space manipulator camera based on 2D planar pattern[J]. Spacecraft Recovery & Remote Sensing, 2013, 34(6): 74-80.

计量
  • 文章访问数:  50
  • HTML全文浏览量:  821
  • PDF下载量:  522
  • 被引次数: 0
出版历程
  • 收稿日期:  2015-11-10

目录

    /

    返回文章
    返回
    x 关闭 永久关闭