农业机械学报2011，Vol.42Issue(3)：161-165,5.
基于粒子滤波的苹果采摘机器人目标姿态估算
Apple Attitude Estimation Based on Particle Filter for Harvesting Robot
摘要
Abstract
In view of harvesting damages and failures caused by the absence of attitude information in the current apple harvesting robot, the method of measuring apple attitude was put forward with the machine vision, and the optimal estimation of apple attitude was carried out based on the particle filter in real time. A camera was fixed on the robotic gripper, in the process of picking the camera vision field was controlled to cover the expected fruit target, and a series of apple images were sampled randomly. The algorithms of the inertial axis and the center offset were applied to calculate the apple attitude at the robotic coordinate according to the each apple image. Finally, the attitude data extracted from many apple images was fused with the particle filter, and the optimal estimation of the apple attitude was obtained. The experimental results showed that the multiple information of apple attitude was fused successfully, and the measurement error of apple attitude was decreased effectively.关键词
苹果/采摘/农业机器人/姿态估计/粒子滤波Key words
Apple / Harvesting/ Agricultural robot/ Attitude estimation/ Particle filter分类
信息技术与安全科学引用本文复制引用
周俊,张高阳,刘锐,金月..基于粒子滤波的苹果采摘机器人目标姿态估算[J].农业机械学报,2011,42(3):161-165,5.基金项目
国家自然科学基金资助项目(31071325)和中国农业大学、南京农业大学青年教师开放科研基金资助项目(NC2008008) （31071325）
