基于單攝像機六自由度檢測系統(tǒng)的設(shè)計.pdf

1、大連理工大學碩士學位論文基于單攝像機六自由度檢測系統(tǒng)的設(shè)計姓名：劉朋申請學位級別：碩士專業(yè)：通信與信息系統(tǒng)指導教師：魏東興20081201基于單攝像機六自由度檢測系統(tǒng)的設(shè)計DesignofDetectingSystemforSixDegreesofFreedomBasedOilSingle—cameraAbstractAlongwithrapiddevelopmentofimageacquiringandprocessingtechno

2、logy，imagemeasurementofsixdegreesoffreedom(DOF)basedonmachinevisionhasbeenwidelyappliedinsomefieldssuchasrobotics，oceanengineeringandflightsimulatorThispaperusesmonocularvisionandimageprocessingtechnologyfordetectingsixD

3、OFofplatform，andcompletesthebuildingofatestmodeloftheDOFmovingparametersofplatformsystem，finallydetectsandprovesthesixInthispaper，amethodofmeasuringsixDOFparameterswithsinglecamerabetweencameraandoppositeflatgoaliSpresen

4、tedTheADSPBF533EZ—KITLiteevaluationboardwhichisproducedbyADIcompany，isusedfordesigningofthesystemCamera’SinternalparametersarecalibratedinthispaperThissystemsendstheimageacquiredbycameratoSDRAMoftheevaluationboardandproc

5、essestheimagewithBlackfin533digitalsignalprocessorThesixDOFmovingparametersarecomputedbydetectingmethodAndthenthecameramovestonextlocationaccordingtotheparameters，finallymovestOthedesiredpose111esiXDOFparametersinthewhol

6、edetectingprocessaredisplayedonamonitorBeforecomputingthesixDOFparameters，twocircleswithdifferentdiameteraremarkedonthetargetplant，andsomecharactersarefilledingreatcircleinordertodistinguishthemovingtypeThenthecollectedi

7、mageisprocessedbydenoise，imagesegmentation，regionfilledandetcCharacteristicelementswhichareusedforcalculatingthesixDOFareextracted，andthecharactersinthegreatcircleareidentifiedLastsixDOFparameterswhichareusedforfeedbackm

8、ovementoftheplatformarecomputedwithmethodofthispaperAttheendofthispaperthesystemwhichisusedfordetectingsixDOFissimulatedandtheprocessofplatform’SmovementanderrorsareanalyzedTheresultsoftheanalysisprovethatthesystemmodeli

9、scorrectandeffectiveResultsoftheexperimentshowthatthesystemcanmoveintelligentlywithoutsuperfluousmovement，andfinallythecameracanmovetothedesiredplaceTherefore，thissystemestablishesbasisforpracticalproKeyWords：DSP；Imagepr