| 微创手术机器人视觉定位系统的研究 |
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| 引用本文： | 李志俊,王连朝,张学民,曾飞. 微创手术机器人视觉定位系统的研究[J]. 武汉理工大学学报(交通科学与工程版), 2007, 31(5): 890-893 |
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| 作者姓名： | 李志俊 王连朝 张学民 曾飞 |
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| 作者单位： | 1. 武汉理工大学自动化学院,武汉,430063
2. 空军第一航空学院,信阳,464000 |
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| 基金项目： | 国家自然科学基金;国防科技预研项目 |
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| 摘 要： | 根据立体视觉的基本原理，建立摄像机标定模型和立体视觉模型，设计了基于微创手术机器人的视觉定位系统．介绍了相应图像处理软件的设计，实现对目标的准确识别和精确定位．实验证明该方案有较好的定位效果，同时分析了引起误差的原因．
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| 关 键 词： | 摄像机标定 立体视觉 图像处理 |
| 修稿时间： | 2007-03-21 |
Research of the Minimally Invasive Neurosurgery Robot''''s Vision Navigation System |
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| Li Zhijun,Wang Lianchao,Zhang Xuemin,Zeng Fei. Research of the Minimally Invasive Neurosurgery Robot''''s Vision Navigation System[J]. journal of wuhan university of technology(transportation science&engineering), 2007, 31(5): 890-893 |
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| Authors: | Li Zhijun Wang Lianchao Zhang Xuemin Zeng Fei |
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| Affiliation: | 1.School of Automation, WUT, Wuhan 430063;2.The First Aeronautical Institute of the Air Force, Xinyang 464000 |
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| Abstract: | According to the basic principle of the three dimensional vision, the standard model of the camera is set up and three-dimensional vision model is designed on the basis of the vision navigation system achieving the operation robot a little. The design of the corresponding pattern process software is in- troduced. The accurate discernment of the goal is implemented and a reservation is made accurately. Experiments show that there is better result of orienting in this scheme. The reason for causing the error is analyzed at the same time. |
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| Keywords: | camera calibration three-dimensional vision image processing |
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