摘要
Basedonphotogrammetrytechnology,anovellocalizationmethodofmicro-polishingrobot,whichisrestrictedwithincertainworkingspace,ispresentedinthispaper.Onthebasisofpinholecameramodel,anewmathematicalmodelofvisionlocalizationofautomatedpolishingrobotisestablished.Thevisionlocalizationisbasedonthedistance-constraintsoffeaturepoints.Themethodtosolvethemathematicalmodelisdiscussed.Accordingtothecharacteristicsofgrayimage,anadaptivemethodofautomaticthresholdselectionbasedonconnectedcomponentsispresented.Thecentercoordinateofthefeatureimagepointisresolvedbybilinearinterpolationgraysquareweightedalgorithm.Finally,themathematicalmodeloftestingsystemisverifiedbygloballocalizationtest.Theexperimentalresultsshowthatthevisionlocalizationsysteminworkingspacehashighprecision.
出版日期
2009年01月11日（中国期刊网平台首次上网日期，不代表论文的发表时间）
