农业机械学报2011，Vol.42Issue(8)：154-158,5.
基于机器视觉的农业机器人运动障碍目标检测
Moving Obstacle Detection Based on Machine Vision for Agricultural Mobile Robot
摘要
Abstract
The robotic ego-motion and the motion of moving obstacle were overlapped when an agricultural mobile robot need to detect the moving obstacle based on machine vision. So two images were taken from the mobile robot and the Harris feature points were extracted and matched. Then a bilinear model was applied to model the movement between the two images, and a least square optimization method was used to calculate the model parameters. A transformation matrix was obtained with this model to compensate the first image to eliminate the effect of the ego-motion of the mobile robot. Finally, a frame difference between the compensated image and the second image was carried out to detect the moving obstacle in the environment. Experimental results showed that this algorithm could eliminate the image movement caused by the ego-motion of the mobile robot, and the moving obstacles were able to be detected effectively with machine vision for the agricultural mobile robot.关键词
农业机器人/机器视觉/运动障碍/导航Key words
Agricultural robot/ Machine vision/ Moving obstacle/ Navigation分类
信息技术与安全科学引用本文复制引用
周俊,程嘉煜..基于机器视觉的农业机器人运动障碍目标检测[J].农业机械学报,2011,42(8):154-158,5.基金项目
国家自然科学基金资助项目(31071325)和江苏省自然科学基金资助项目(BK2010458) （31071325）
