期刊
SUSTAINABLE DEVELOPMENT OF URBAN INFRASTRUCTURE, PTS 1-3
卷 253-255, 期 -, 页码 2252-2257出版社
TRANS TECH PUBLICATIONS LTD
DOI: 10.4028/www.scientific.net/AMM.253-255.2252
关键词
machine vision; pose estimation; orthogonal iteration; battery box
For the reason of difficult to get battery box pose information, we research the battery box pose measure method based on visual information. We get the coplanar four points at the lines constraints which extracted form image. We get the pose relationship between the battery box coordinate system and camera coordinate system, and then calculate the average of the measure results to reduce noise effects for measure precision. Simulation results show that the method through calculate average of the measure results can effectively reduce noise effects for measure accuracy. The actual experimental results show that the pose estimate accuracy is meet robot requirements for battery swap.
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