Abstract
In order to solve the current localization algorithm big background interference affects calibration methods exist damage, physical contact with the workpiece material on the surface of the problem, hand-eye calibration was proposed based on strong orientation and three visual guidance system. First, deepen the Hessian matrix, using Gaussian filter, using the maximum inhibition precisely determine the feature points and direction, in order to construct surf feature points description, finish strong positioning operator based on surf, to remove the background and the ambient light interference, the purpose of accurate positioning center of the target with Angle. And then put forward three points calibration method, calculation scale rotation matrix and translation matrix parameters, complete the Robot world coordinates and binding mapping camera image coordinates. Finally, program implementation algorithm and system, the experiment results showed that compared with the current workpiece material transfer system, this system has higher goal orientation and calibration transfer success rate.
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