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中文摘要：
针对传统工业上水泥灌装速度慢，精度低，文章采用Eye-in-hand和Eye-to-hand2种视觉系统相结合的水泥灌装视觉定位系统建立坐标系统，完成像素坐标向物理坐标转换，并采用迭代逼近求解的优化方法完成定位。新的视觉系统具有视野范围大、定位精度高的特点。采用迭代逼近的方法减少了机械中由齿轮间隙和相机畸变带来的误差，达到快速和精确定位的目标。
英文摘要：
In view of low speed and accuracy of the traditional industrial cement filling, a new visual positioning system is made based on the Eye-in-hand and Eye-to-hand visual systems, then a coordi- nate system is established to transform pixel coordinates to physical coordinates and a method of itera- tive approach is used to achieve a better result. The new visual system has the characteristics of big vision and high precision, and the method of iterative approach reduces the error from gear clearance and camera distortion, thus achieving a fast and accurate positioning.
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