Research on Target Localization of Spacelab Robot Based on Vision

The raw data of the world coordinates and image coordinates of calibration points were the fundamental parts of the calibration progress and object localization. In this paper, a new method on the measurement of the world coordinates of coplanar points by monocular theodolite is described, and an improved Harris corner detecting method to pick up image character points is introduced, and we realize the corner point stereo matching based on the correlation of Gray value by using epipolar constraint, exclusive constraint, ordering constraint The correctness and feasibility of the methods arc proved by typical experiments; the result shows the improvement of the precision and response velocity of calibration and target localization process.