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单目视觉移动机器人目标定位改进方法

发表时间:2018-08-31  浏览量:182  下载量:54
全部作者: 彭磊,张赤斌
作者单位: 东南大学机械工程学院
摘 要: 为实现单目视觉移动机器人对目标物体的定位,提出一种基于相机的针孔成像模型与几何坐标映射变换原理的目标定位方法。通过相机标定获得相机的内参数与畸变系数,并以此修正相机获取的图像;结合建立的相机成像模型与移动机器人单目视觉系统固有参数,根据几何坐标映射变换从二维图像坐标系求解出机器人坐标系中目标的精确坐标。经过实验验证,该方法具有较好的准确性与可行性。
关 键 词: 自动控制技术;移动机器人;单目视觉;相机标定;目标定位
Title: An improved method for target localization of mobile robot with monocular vision
Author: PENG Lei, ZHANG Chibin
Organization: School of Mechanical Engineering, Southeast University
Abstract: A target localization method based on the camera’s pinhole imaging model and geometric coordinate mapping transformation principle is proposed in this paper for target orientation of mobile robot with monocular vision. Intrinsic parameters and distortion coefficients are firstly obtained via camera calibration and adopted to correct images acquired from camera. Combined with the established imaging model and intrinsic parameters in the monocular vision system of mobile robot, the precise coordinate of target object is calculated on the basis of the geometric coordinate mapping transformation from two-dimensional image coordinate system to the robot coordinate system. The experimental results prove the accuracy and feasibility of the proposed method.
Key words: autocontrol technology; mobile robot; monocular vision; camera calibration; target localization
发表期数: 2018年8月第16期
引用格式: 彭磊,张赤斌. 单目视觉移动机器人目标定位改进方法[J]. 中国科技论文在线精品论文,2018,11(16):1659-1665.
 
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