计算机工程与应用2011，Vol.47Issue(23)：181-184,193,5.DOI:10.3778/j.issn.1002-8331.2011.23.051
移动机器人目标分割及测距方法研究
Study on mobile robot object segmentation and distance detection method
摘要
Abstract
A method for mobile robot navigation indoor using monocular vision is discussed.lt provides a method for color image segmentation in HSI color model in succession using Otsu method to select the threshold,and suggests a mean brightness based powertransform method to improve the contrast of the brightness space, adapts to light changing of indoor environment and extracts the pixel coordinates of multiple targets.Based on perspective projection.it discusses geometry method to calculate the world coordinates of the objects.Experiment results with the Pioneer-2 mobile robot and data analysis show the method's validity and practicability.关键词
移动机器人/视觉导航/图像分割/幂次变换/目标定位Key words
mobile robot/vision-based navigation/image segmentation/powertransform/object location分类
信息技术与安全科学引用本文复制引用
沈春生,王耀南..移动机器人目标分割及测距方法研究[J].计算机工程与应用,2011,47(23):181-184,193,5.基金项目
国家自然科学基金(the National Natural Science Foundation of China under Grant No.60775047) （the National Natural Science Foundation of China under Grant No.60775047）
国家高技术研究发展计划(863)(the National High-Tech Research and Development Plan of China under Grant No.2008AA04Z214). （863）
