High-accuracy automatic locating system based on templates

In order to meet the requirement of robot assisted surgery which identified the object automatically with high precision, the Bumblebee 2 camera systems were used, and the ellipse and the circle were regarded as a template. The corners in the image were detected by the proposed algorithm. After the image enhanced for improving the contrast, using the symmetric properties of the black block and white block in the templates, the corners in the ellipse and in the circle were detected. At last using the vector vertical relationship, the goal vertex in the ellipse was extracted, and then the template was identified. Through the depth function of the Bumblebee 2, the world position of the templates was obtained automatically with the high accuracy. The system overcame the problem that the traditional cameras calibrated the inside and outside parameters. Finally, experiments show that the positioning accuracy will reach to 0.42 mm, which is satisfactory to the requirement of the surgery.