西华大学学报（自然科学版）2017，Vol.36Issue(5)：43-50,8.DOI:10.3969/j.issn.1673-159X.2017.05.007
基于Kinect的仿人机器人抓取目标定位
Grasping Target Localization of Humanoid Robot Based on Kinect Sensor
摘要
Abstract
Target localization is the premise for a humanoid robot to accomplish grasping operation. Aiming at the problems that the robot monocular vision is easy to lose depth information and the binocular vision is difficult to effectively obtain the depth information of textureless objects, a target localization system is provided for humanoid robot grasping based on Kinect. First of all, Kinect and the ro-bot coordinates were established, and the Bursa coordinate transformation model which solved by the linear total least squares ( LTLS) algorithm was constructed. The grasping points sensed by Kinect were coordinated to the robot coordinate system, thus achieving the goal that the robot positioning target object. Finally, the system scheme was experimentally verified on the humanoid robot NAO. The results show that the robot can locate the target in real time and reliably within a certain space through the method, which is more accu-rate than the robot monocular vision. According to the target localization system provided, NAO robot accomplished the task of grasping different objects.关键词
机器人/视觉定位/目标识别/坐标转换/最小二乘算法/NAO机器人/布尔沙模型Key words
robot/visual location/target recognition/coordinate transformation/LTLS algorithm/NAO robot/Bursa model分类
信息技术与安全科学引用本文复制引用
杨邱滟,董秀成,汪星航..基于Kinect的仿人机器人抓取目标定位[J].西华大学学报（自然科学版）,2017,36(5):43-50,8.基金项目
四川省科技支撑计划项目(2013GZX0152) （2013GZX0152）
