The Research on Attitude Correction Method of Robot Monocular Vision Positioning System

被引：0
|
作者：
Zhang, Feilong [1 ]
Zheng, Shuaichao [1 ,2 ]
He, Yun [1 ]
Shao, Xiaodong [3 ]
机构：
[1] Chinese Acad Sci, Shenyang Inst Automat, Shenyang 110016, Liaoning, Peoples R China
[2] Northeastern Univ, Sch Mech Engn & Automat, Shenyang 110819, Liaoning, Peoples R China
[3] Shenyang Univ Technol, Sch Elect Engn, Shenyang 110870, Liaoning, Peoples R China
来源：
2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO) | 2016年
关键词：
Robot; Positioning system; Attitude correction; Error compensations;
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In order to improve the measurement accuracy of monocular vision positioning system, a fast calibration method based on distance laser sensor(DLS) for robot positioning system is proposed. Based on this method, the attitude correction model of positioning system is established and the attitude correction angle phi(alpha, beta, gamma) of the adjusting and positioning system is solved. Based on the attitude correction of robot positioning system, the error compensation model of the positioning system is established in the depth direction measurement and the depth measurement accuracy of positioning system is improved. The attitude correction experiment and positioning experiment of robot positioning system has been carried out. Experimental results show that the proposed method of calibration and the method of attitude correction are simple, accurate and reliable. Meet the requirements of the positioning accuracy of the robot system.
引用
收藏
页码：1972 / 1976
页数：5
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