计算机工程2012，Vol.38Issue(13)：240-243,4.DOI:10.3969/j.issn.1000-3428.2012.13.072
基于立体视觉的串联机器人跟踪检测系统
Series Robot Tracking Detection System Based on Stereo Vision
摘要
Abstract
This paper presents a framework of tracking and detection system based on stereo vision for 6-DOF series robot. It is composed of image capture, camera calibration, tracking based on CamShift algorithm, Speeded Up Robust Features(SURF) algorithm and reconstruction of points, position and orientation measurement. This framework, can be used for real-time tracking of the robot by CamShift algorithm, search and outline the robotic arm operator position in the current area. For the robotic arm to be tracked, it should take SURF algorithm for feature point detection and stereo matching. The above method is used for robot position and orientation detection experiment. Experimental results show that the combination of the two algorithms is especially fit for the 6-DOF robot tracking and detection and complex motion in space.关键词
串联机器人/跟踪检测/位姿测量/立体匹配/CamShift算法/SURF算法Key words
series robot/ tracking detection/ position and orientation measurement/ stereo matching/ CamShift algorithm/ Speeded Up Robust Features(SURF) algorithm分类
信息技术与安全科学引用本文复制引用
孙美霞,任立红,韩华,郝矿荣,丁永生..基于立体视觉的串联机器人跟踪检测系统[J].计算机工程,2012,38(13):240-243,4.基金项目
国家自然科学基金资助重点项目(61134009) （61134009）
国家自然科学基金资助项目(60975059) （60975059）
教育部高等学校博士学科点专项科研基金资助项目(20090075110002) （20090075110002）
上海市优秀学术带头人计划基金资助项目(11XD1400100) （11XD1400100）
上海市科学技术委员会重点基础研究基金资助项目(10JC1400200,09JC1400900) （10JC1400200,09JC1400900）
上海市科学技术委员会技术标准专项基金资助项目(10DZ0506500) （10DZ0506500）
