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直线特征的交互矩阵求取

徐德 卢金燕

徐德, 卢金燕. 直线特征的交互矩阵求取. 自动化学报, 2015, 41(10): 1762-1771. doi: 10.16383/j.aas.2015.c150097
引用本文: 徐德, 卢金燕. 直线特征的交互矩阵求取. 自动化学报, 2015, 41(10): 1762-1771. doi: 10.16383/j.aas.2015.c150097
XU De, LU Jin-Yan. Determination for Interactive Matrix of Line Feature. ACTA AUTOMATICA SINICA, 2015, 41(10): 1762-1771. doi: 10.16383/j.aas.2015.c150097
Citation: XU De, LU Jin-Yan. Determination for Interactive Matrix of Line Feature. ACTA AUTOMATICA SINICA, 2015, 41(10): 1762-1771. doi: 10.16383/j.aas.2015.c150097

直线特征的交互矩阵求取

doi: 10.16383/j.aas.2015.c150097
基金项目: 

国家自然科学基金(61227804, 61421004)资助

详细信息
    作者简介:

    卢金燕 中国科学院自动化研究所博士 研究生. 2011 年获得北京航空航天大学 计算机科学与技术专业硕士学位. 主要 研究方向为位姿检测, 视觉测量, 机器人 控制. E-mail: jinyan.lu@ia.ac.cn

    通讯作者:

    徐德 中国科学院自动化研究所研究 员. 主要研究方向为机器人和自动化, 视 觉测量, 视觉控制, 智能控制, 焊缝跟踪, 视觉定位, 显微视觉, 微装配. 本文通信 作者. E-mail: de.xu@ia.ac.cn

Determination for Interactive Matrix of Line Feature

Funds: 

Supported by National Natural Science Foundation of China (61227804, 61421004)

  • 摘要: 直线特征在视觉跟踪、视觉伺服中具有重要作用, 但目前的直线交互矩阵的求取受到制约, 需要已知含有直线的平面在摄像机坐标系中的方程参数. 为摆脱含有直线的平面参数的约束, 本文利用两点的极坐标推导出直线的交互矩阵, 并给出直线交互矩阵求取方法. 经分析得知, 对于与摄像机光轴接近垂直的直线, 其在成像平面上的角度变化主要受摄像机姿态变化的影响, 对摄像机的位置变化不敏感. 对于与摄像机光轴平行的直线, 其在成像平面上的角度变化受摄像机旋转以及垂直于光轴平移 的影响较大. 实验结果验证了本文方法的有效性.
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出版历程
  • 收稿日期:  2015-03-02
  • 修回日期:  2015-07-07
  • 刊出日期:  2015-10-20

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