现代电子技术2016，Vol.39Issue(8)：80-84,87,6.DOI:10.16652/j.issn.1004-373x.2016.08.021
双目立体视觉在人形机器人三维重建中的应用
Application of binocular stereo vision in 3D reconstruction of humanoid robot
摘要
Abstract
A three⁃dimensional(3D)reconstruction scheme based on binocular vision is proposed. Two VX6000 LifeCam cameras are installed in the NAO humanoid robot's face to collect the left and right images of the target. In the process of 3D re⁃construction,the camera is calibrated by utilizing the tessellated corner point positioning,the image is corrected to remove its distortion,and then the edge features of the image are extracted by Canny edge detector for stereo matching. Finally,the 2D image is triangulated by Delaunay triangulation,the image texture is mapped to the three⁃dimensional space,and then 3D target image is rendered to obtain the final 3D image. The experimental results show that the proposed scheme can accurately measure the depth of the scene,and can be used in the 3D reconstruction of the humanoid robot scene.关键词
双目立体视觉/NAO机器人/三维重建/Delaunay三角剖分Key words
binocular stereo vision/NAO robot/three-dimensional reconstruction/Delaunay triangulation分类
信息技术与安全科学引用本文复制引用
孙新领,谭志伟,杨观赐..双目立体视觉在人形机器人三维重建中的应用[J].现代电子技术,2016,39(8):80-84,87,6.基金项目
河南省高等学校重点科研项目（15A520063）；河南省教育厅科学技术研究重点项目（13A520221，14A520045）；贵州省重大基础研究项目 （）
