关键词: 深度估计, 手眼系统, 平行移动, 无标定摄像机

Abstract: In the hand-eye system by image-based visual servo, depth information of the object was usually obtained by estimation. To deal with this problem, a new depth estimation method with hand-eye system was proposed, which was based on pure translations of manipulator fixed with a camera and shifts of keypoints in the images captured before and after camera translation. Firstly four pure translations were executed offline to obtain the rotation matrix of hand-eye relationship, At the on-line stage the translations of camera were calculated according to the translations of manipulator and the rotation matrix of hand-eye relationship, and the depth of the object was estimated in real time utilizing particularity which the epipolar was steady under pure translations. Different from other methods, this method needed not to calibrate the parameters of camera, and was robust enough to resist image noise and mechanical movement noise.

Key words: depth estimation, hand-eye system, translation motion, uncalibrated camera