Based on photogrammetry technology,a novel localization method of micro-polishing robot,which is restricted withincertain working space,is presented in this paper.On the basis of pinhole camera model,a new mathematical model of visionlocalization of automated polishing robot is established.The vision localization is based on the distance-constraints of featurepoints.The method to solve the mathematical model is discussed.According to the characteristics of gray image,an adaptivemethod of automatic threshold selection based on connected components is presented.The center coordinate of the featureimage point is resolved by bilinear interpolation gray square weighted algorithm.Finally,the mathematical model of testingsystem is verified by global localization test.The experimental results show that the vision localization system in working spacehas high precision.
Zhao-jun Yang, Fei Chen, Ji Zhao, Xiao-jie WuCollege of Mechanical Science and Engineering, Jilin University, Changchun 130022, P. R. China
