NAO的单目视觉空间目标定位方法研究
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摘要
为了实现单摄像头工作的双足机器人NAO的视觉定位,采用单目视觉技术,建立一个空间点定位模型。根据摄像机的小孔透视模型,将图像中的二维坐标通过几何关系映射为机器人坐标系中的三维坐标,实现NAO基于单目视觉技术对空间目标定位。进行了定位实验,实验结果误差在允许范围之内,验证了该定位方法的实际可行性。
In order to achieve visual orientation for biped robot NAO with single camera using monocular vision technology,a space point orientation model is established.The model based on the camera perspective model of holes,two-dimensional coordinates of images are mapped to three-dimensional coordinates in the same system as the robot is according to geometrical relationships,to realize the space target orientation for NAO based on monocular vision.Finally,an orientation experiment is conducted where errors of the results are within the allowed range,therefore validating the practical feasibility of the method.
In order to achieve visual orientation for biped robot NAO with single camera using monocular vision technology,a space point orientation model is established.The model based on the camera perspective model of holes,two-dimensional coordinates of images are mapped to three-dimensional coordinates in the same system as the robot is according to geometrical relationships,to realize the space target orientation for NAO based on monocular vision.Finally,an orientation experiment is conducted where errors of the results are within the allowed range,therefore validating the practical feasibility of the method.
引文
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[3] Aider O A,Hoppenot P,Colle E.A model-based method for indoor mobile robot localization using monocular vision and straight-line correspondences[J].Robotics and Autonomous Systems,2005(52):229-246.
[4] Rorer E,Lhuillier M,Dhome M,et al.Monocular vision for mobile robot localization and autonomous navigation[J].International Journal of Computer Vision,2007,74(3):237-260.
[5] 王牛,李祖枢,武德臣,等.机器人单目视觉定位模型及其参数辨识[J].华中科技大学学报,2008,36(10):57-60.
[6] Pal N R,Pal S K.A review on image segmentation techniques[J].Pattern Recognition,1993,26(9):1277-1294.
[7] Yanowitz S D,Bruckstein A M.A new method for image segmentation[C]//9th International Conference on Patter Recognition,1988:270-275.
[8] Wang C,Yang F,Li L,et al.A new kind of adaptive weighted median filter algorithm[C]//2010International Conference on Computer Application and System Modeling,2010.
[9] Wang Y,Liang D,Ma H,et al.An algorithm for image denoising based on mixed filter[C]//The Sixth World Congress on Intelligent Control and Automation,2006,2:9690-9693.
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