目的 为实现包装机器人自动测距的功能， 提出将双目稀疏立体视觉算法应用到自动包装机器人视觉系统中。方法 为验证算法的实用性， 利用深圳市元创兴科技有限公司生产的配备双目视觉系统的REBot-V-6R六自由度机器人进行实验， 计算实验台上包装件与摄像机的距离， 通过计算值与测量值之间的误差评估算法的精确度。结果 实验证明双目稀疏立体视觉算法在600~1000 mm范围内深度计算误差小于7%。结论 该稀疏立体视觉算法可以应用于自动包装机器人测距。

To realize the automatic ranging function of packaging robot, this experiment proposed to apply sparse stereo vision to the packaging robot arm. To evaluate the accuracy of this algorithm, a robot arm REBot-V-6R which was equipped with stereo cameras was used to carry out the experiment to calculate the distance between the package pieces on the experimental table and the camera, and the accuracy of the algorithm was evaluated by the error between the value computed by sparse stereo and the measured value. Experimental results showed that the computing error was below 7% in a range of 600~1000 mm. In conclusion, the algorithm method of sparse stereo can be used in the ranging system of automatic packaging robot.