像平面与空间平面的变换及其在移动机器人中的应用

说明了像平面与空间平面的变换以及摄像机在固定，旋转和平移时变换矩阵的求解方法．还讨论了该变换在移动机器人定位，障碍物检测，运动参数分析和三维坐标计算上的应用。

This paper presents the transformation between image plane and world plane. The solution algorithm of transform matrix when the camera is fixing,rotating or moving is also given. The application of this transformation in location of mobile robot, obstacle detection,analysis of moving and caculation of 3D coordinate is also discussed in this paper.