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Movable platform calibration device and calibration method based on visual recognition

A mobile platform and calibration device technology, applied in image data processing, instruments, calculations, etc., can solve problems affecting the stability and reliability of operation, achieve the effect of improving stability and reliability, and reducing research and development costs

Inactive Publication Date: 2016-08-17
NANJIANG ROBOT
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  • Claims
  • Application Information

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Problems solved by technology

This can be used for most tasks when the accuracy requirement is not high, but for the situation where the positioning accuracy is high, you have to resort to other positioning methods or rely on continuous large-scale position correction, which affects the smooth operation sex and reliability

Method used

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  • Movable platform calibration device and calibration method based on visual recognition
  • Movable platform calibration device and calibration method based on visual recognition
  • Movable platform calibration device and calibration method based on visual recognition

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Embodiment Construction

[0027] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0028] like figure 1 As shown, the calibration device of the present invention includes: a camera unit and a calculation unit.

[0029] The camera unit acquires the image and records the coordinates of the marked points in the image. The marked points are placed on the working plane of the movable platform and are located within the field of view of the camera unit during the movement of the movable platform. The camera unit is installed on the movable Near the center of the platform, facing the working plane, use the calibration board and the camera calibration tool in matlab to calibrate the internal parameters, external parameters, and distortion parameters. The marking point can be any distinguishing background, and can be identified and uniquely determined in the image, that is, the point has a definite unique coordinate in an ima...

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Abstract

The invention discloses a movable platform calibration device based on visual recognition. The movable platform calibration device is used for calibrating the advance direction and / or the centre of gyration of a movable platform. The movable platform calibration device comprises a camera shooting unit and a calculation unit, wherein the camera shooting unit obtains image towards a working plane, and records the coordinate of a gauge point in the image, wherein the gauge point is arranged on the working plane and is positioned in the view range of the camera shooting unit in a movement process of the movable platform; and the calculation unit obtains the coordinate of the gauge point from the image, and fits a plurality of gauge points in an image coordinate system to obtain the movement tracks of the gauge points in the image. The movable platform calibration device only utilizes a visual sensor to accurately calibrate the advance direction and the centre of gyration of a mobile robot on the premise that other sensors or positioning ways do not need to be used so as to be favorable for improving the stability and the reliability of the mobile robot in the movement process and be favorable for lowering the production and research and development cost of the robot.

Description

technical field [0001] The invention belongs to the technical field of mobile platform calibration, and in particular relates to a visual recognition-based mobile platform calibration device and calibration method. Background technique [0002] High-precision calibration of the moving direction and the center of rotation of the mobile robot can make the operation of the robot more stable and reliable. In traditional mobile robots, the forward direction of the robot is usually simply regarded as the front of the robot equipment, and the two-wheel center or the geometric center of the mobile robot is regarded as the motion center of the robot. This can be used for most tasks when the accuracy requirement is not high, but for the situation where the positioning accuracy is high, you have to resort to other positioning methods or rely on continuous large-scale position correction, which affects the smooth operation sex and reliability. Therefore, the present invention proposes...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00
CPCG06T2207/10004
Inventor 章逸丰戴舒炜
Owner NANJIANG ROBOT
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