3D Locating of Robot Manipulator Based on Monocular Vision

TAN Wei; XU Qing-gui; LI Yong

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3D Locating of Robot Manipulator Based on Monocular Vision

更新时间：2026-09-04

- 3D Locating of Robot Manipulator Based on Monocular Vision
- Vol. 28, Issue 2, Pages: 129-131(2011)
- 作者机构：
  
  东莞理工学院机构计算机系,东莞,523808
- 作者简介：
- 基金信息：
- DOI：
  CLC：
- Published：2011
- 稿件说明：
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谭伟, 徐钦桂, 李勇. 基于单目视觉的机械手三维定位[J]. 微电子学与计算机, 2011, 28(2): 129-131,135.

TAN Wei, XU Qing-gui, LI Yong. 3D Locating of Robot Manipulator Based on Monocular Vision[J]. 2011, 28(2): 129-131.
谭伟, 徐钦桂, 李勇. 基于单目视觉的机械手三维定位[J]. 微电子学与计算机, 2011, 28(2): 129-131,135. DOI：

TAN Wei, XU Qing-gui, LI Yong. 3D Locating of Robot Manipulator Based on Monocular Vision[J]. 2011, 28(2): 129-131. DOI：

摘要

提出了一种利用单目视觉识别目标并且进行精确的三维定位

用于机械手对目标的精确定位.首先通过模板匹配的方法在图像中识别出目标并计算其中心坐标

然后分别在相同高度和水平的四个相隔一定距离的位置上采集目标图像

根据目标在图像中的位置变化

结合平行双目视觉原理与小孔成像的缩放比例关系

计算摄像头距离目标的深度距离.该系统易搭建、成本低

定位精度较高.

Abstract

An active monocular vision for 3D stereo recognition and location system is built to work on robot manipulator. First to recognize and locate the target in 2D usin garea-based matching

then compute the depth distance using the method which combines stenopaic imaging arithmetic and parallel two eyes visual mode1. Test result showed that this method can correctly recognize the object and compute the 3D location. It can achieve high rates of 3D locating.

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