湖北工程学院学报2016，Vol.36Issue(6)：97-101,5.
基于 RGB-D 图像的机械臂关节角度检测的研究
Research on the Detection of Manipulator Arm Joint Angle Based on RGB-D Image
摘要
Abstract
For the angle value of each joint of manipulator arm,a calculation method is proposed,using RGB-D image.Firstly,the RGB color and depth image are obtained,using Kinect and alignedto seg-ment the manipulator arm from the depth image by the threshold segmentation.Secondly,the manip-ulator arm outline frames are extracted according to the thinning algorithm.By combining the position relation of the rigid body parts of the manipulator arm,the joint points are located and the joint angle of the manipulator is calculated based on the properties of the vector.The method can locate joint point and calculate the joint angle of the manipulator with high accuracy and robustness.关键词
机械臂/深度图像/细化算法/关节点定位/关节角度Key words
manipulator arm/depth image/thinning algorithm/joint point calibrated/joint angle分类
信息技术与安全科学引用本文复制引用
刘海丰,陈鹏..基于 RGB-D 图像的机械臂关节角度检测的研究[J].湖北工程学院学报,2016,36(6):97-101,5.基金项目
湖北省教育厅青年人才项目(Q20111504) （Q20111504）
武汉工程大学科学研究基金项目(12116021) （12116021）
武汉工程大学研究生教育创新基金项目(CX201274) （CX201274）
