ABSTRACT
As shown in Figure 3, according to the imaging principle of the pinhole camera, the pixel coordinates in the image plane can be collected by the camera, and the 3D coordinates of the robot coordinate system can be transformed into the coordinate system (Cherubini, 2014). Assuming that the camera is fixed on the robot’s height H, the origin of parameters OL for the robot coordinate system is (XL, YL, ZL), the lens optical center Oc in the robot coordinate system parameter is (Ocx, Ocy, Ocz), the origin of parameters of image center Ol in camera coordinate system is on the Zc axis, (Ix, Iy,) is one of the feature points in the image and (xr, yr) is the point coordinate on the ground in the robot coordinate system.
