林安平， 孙炜^*

（  湖南大学电气与信息学院；  ）

摘要： 在手眼系统中，深度信息是视觉定位系统的一个重要参数。在手眼系统中，物体的像随着相机移动而运动， 根据同一物体像的位置变化和相机移动的距离，可以估算出物体的深度信息。本文推导出相机运动和物体像的运动之间的数学关系，采用重心法和投票法来检测圆。然后利用乒乓球作为目标物体，使相机分别作径向和轴向运动来估计深度信息。实验结果表明，通过相机径向运动或轴向运动在不同位置拍摄同一物体的照片，根据相机的移动距离和同一物体像的位置变化可以估算出物体的深度信息。
关键词： 手眼系统；深度信息；投票法；圆检测

Lin Anping， Sun Wei^*

（  College of Electrical and Information Engineering, Hunan University；  ）

Abstract： In the eye-in-hand system, the depth is very important for visual positioning system. The image of the object moves as the camera moving, according to the image position change of the same object and the distance the camera made, the depth can be estimated. This paper deduced the relation between camera moving and the image of object moving, adopted centroid method and local voting method to detecting circle. Then used the table tennis to do the radial and the axial motion experiments and estimate the depth. The experiments proved that moving camera alongside either radial or axis direction and taking photos in different position, the depth can be calculated according to the distance the camera moved and the image changes of the same object.

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