武汉工程大学学报2017，Vol.39Issue(2)：193-198,6.DOI:10.3969/j.issn.1674-2869.2017.02.016
双目视觉在类人机器人测距中的应用
Application of Binocular Vision Range Measuring in Humanoid Robots
袁泉 1邹冲 2闵锋2
作者信息
- 1. 昆明理工大学信息工程与自动化学院,云南昆明650504
- 2. 武汉工程大学计算机科学与工程学院,湖北武汉430205
- 折叠
摘要
Abstract
To realize the idea that humanoid robots can recognize complicated targets with high accuracy and measure the actual distance of the target,a binocular method was proposed for recognizing target and measuring distance.Firstly,the camera calibration was realized by the checkerboard method to capture images afterwards.Then Local Binary Pattern operator and optimized Support Vector Machine were employed to identify the target.On the basis of recognition,Scale-invariant Feature Transform algorithm was used to match feature points and to determine the actual distance based on the principle of triangulation.Experimental results show that this method can reduce the designation of artificial parameters and improve the efficiency of matching features,and the accuracy of measuring actual distance is more than 94％,satisfying real-time and high-accuracy requirements of humanoid robots.关键词
类人机器人/双目视觉/目标识别/双目测距/立体匹配Key words
humanoid robot/binocular vision/object recognition/binocular ranging/stereo matching分类
信息技术与安全科学引用本文复制引用
袁泉,邹冲,闵锋..双目视觉在类人机器人测距中的应用[J].武汉工程大学学报,2017,39(2):193-198,6.
