An algorithm of determining the plane based on monocular vision and laser loop

  • Authors:

  • Xinglong Zhu;Ying Zhang;Luyang Li;Longqin Gao;Jiping Zhou

  • Affiliations:

  • School of Mechanical Engineering, Yangzhou University, Yangzhou, Jiangsu, China;School of Mechanical Engineering, Yangzhou University, Yangzhou, Jiangsu, China;School of Mechanical Engineering, Yangzhou University, Yangzhou, Jiangsu, China;School of Mechanical Engineering, Yangzhou University, Yangzhou, Jiangsu, China;School of Mechanical Engineering, Yangzhou University, Yangzhou, Jiangsu, China

  • Venue:
  • AICI'11 Proceedings of the Third international conference on Artificial intelligence and computational intelligence - Volume Part III
  • Year:
  • 2011

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Abstract

Since the spot is elliptical when the cylindrical laser irradiates on the spatial plane, the pose of the spatial plane can be described by the elliptical spot. At the same time, the laser spot in the CCD plane is also elliptical. The information of the spatial plane will include in the image ellipse. The monocular vision has been established, and the boundary equation is obtained by image processing, and the relationship is derived between the boundary equation and the pose parameters of the spatial plane by minimum mean-square method. In order to obtain the depth information of the spatial plane, the boundary equation of the cylinder laser is introduced as the constrained condition. Because the constrained condition is transcendental equation set which includes trigonometric function, SWIFT (sequential weight increasing factor technique) is adopted for solving the parameters of the spatial plane. The simulation results show that the algorithm proposed is effective and feasible.