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基于Power Crust算法的遥操作机器人作业环境实时重构研究

发表时间:2014-03-31  浏览量:1779  下载量:706
全部作者: 倪涛,蔡明君,郑幻飞,赵可孟,苗树会
作者单位: 吉林大学机械科学与工程学院;一汽-大众汽车有限公司
摘 要: 为解决虚拟现实辅助遥操作系统远端环境中物体的三维重构难以保证虚拟场景与真实作业现场的一致性,以及无法及时更新虚拟场景等问题,采用双目视觉技术,在图像特征提取和立体匹配计算的基础上,采用基于特征约束的Power Crust算法,实时重构作业对象的三维几何模型。在此基础上,搭建遥操作机器人的虚拟仿真环境,以确保虚拟场景与远端工作现场环境的实时匹配。对双目摄像机的标定、图像的立体匹配、Power Crust算法改进等进行阐述,并通过实验验证该算法在提高遥操作机器人作业环境实时重构作业效率和精确性等方面的优越性。
关 键 词: 机器人技术;双目视觉;Power Crust算法;三维重构
Title: Research on operating environment visual reconstruction based on Power Crust algorithm for telerobotic
Author: NI Tao, CAI Mingjun, ZHENG Huanfei, ZHAO Kemeng, MIAO Shuhui
Organization: College of Mechanical Science and Engineering, Jilin University; FAW-Volkswagen Automobile Co., Ltd.
Abstract: It becomes urgent for solving the problem to keep the consistence between the virtual environment and reality, and also impossible to update virtual environment in time of the 3-D reconstruction of the remote environment objects. The paper takes binocular vision technology to reconstruct the three dimensional model with Power Crust method on the basis of image characteristics extraction and stereo matching calculation. It elaborates the binocular camera calibration, stereo matching of the images and improvement of Power Crust method. Finally, the efficiency and accuracy of the method is verified by the experiment.
Key words: robot technology; binocular stereo vision; Power Crust algorithm; 3-D reconstruction
发表期数: 2014年3月第6期
引用格式: 倪涛,蔡明君,郑幻飞,等. 基于Power Crust算法的遥操作机器人作业环境实时重构研究[J]. 中国科技论文在线精品论文,2014,7(6):597-609.
 
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