共查询到19条相似文献,搜索用时 203 毫秒
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一种稳健的直线提取和匹配算法 总被引:2,自引:0,他引:2
在空间机器人遥操作中,需要快速的求解图像的摄像机参数来对操作对象进行三维建模.通过利用匹配直线的对应关系,可以直接求出图像的摄像机参数,而且比用角点匹配求得的结果具有更高的可靠性.现有的直线提取和匹配算法虽然已经有很多,但是大部分都比较耗时,不能满足实时性的要求.针对空间机器人遥操作等实时性较强的应用,提出了一种基于直线支持区域的稳健、快速的直线提取和匹配算法.实验结果表明了该算法的有效性. 相似文献
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一种新的线性摄像机自标定方法 总被引:21,自引:2,他引:19
提出了一种新的基于主动视觉系统的线性摄像机自定标方法。所谓基于主动视觉系统,是指摄像机固定在摄像机平台上以平摄像机平台的运动可以精确控制。该方法的主要特点是可以线性求解摄像机的所有5个内参数。据作者所知。文献中现有的方法仅能线性求解摄像机的4个由参数。当摄像机为完全的射影模型时,即当有畸变因子(skew factor)存在时,文献中的线性方法均不再适用。该方法的基本思想是控制摄像机做5组平面正交运动,利用图像中的极点(epipoles)信息来线性标定摄像机。同时,针对摄像机做平移运动时基本矩阵的特殊形式,该文提出了求基本矩阵(fundamental matrix)的2点算法。与8点算法相比较,2点算法大大提高了所求极点的精度和鲁棒性。另外,该文对临近奇异状态(即5组平面正交运动中,有两组或者多组运动平面平行)作了较为详尽的分析,并提出了解决临近奇异状态的策略,从而增强了该文算法的衫性。模拟图像和真实图像实验表明该文的自标定方法具有较高的鲁棒性和准确性。 相似文献
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教材分析
《直线和平面垂直》是人民教育出版社《高中数学第二册(B版)》中的内容。此内容是高中立体几何中的重要内容,也是学习三垂线定理、平面与平面垂直、平面与平面成角的基础,更是培养学生空间想象能力和探究、创新能力的好内容。镜面对称是空间的重要性质,要让学生了解直线和乎面垂直是研究空间对称的基础,要让学生体会到直线和平面垂直的判定定理的证明过程就是由轴对称转换为空间的镜面对称的过程,这就是定理证明过程的本质。 相似文献
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针对受不确定性影响的平面Acrobot机器人,提出一种基于免疫优化的线性自抗扰鲁棒控制设计方法,实现机器人末端点从任意初始位置到达并镇定在目标位置.首先,借助驱动关节与被动关节角度之间的状态约束获取机器人末端点位置与驱动关节角度的对应关系,使末端点的位置控制转换为驱动关节的角度控制;其次,为缩短运动路径加入最小角度位移限制条件,设计免疫算法求解目标位置所对应的驱动关节角度的最小期望值;再次,引入线性自抗扰控制技术,把机器人的模型不确定性、未知干扰等因素视为一个新的扩张状态变量,设计线性扩张状态观测器和基于状态误差的反馈控制器,在仅驱动关节角度可测的情况下实现Acrobot的鲁棒镇定;最后,通过仿真实验验证所提出方法具有更好的鲁棒控制性能. 相似文献
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设计并制作了一种2自由度的基于柔索驱动的电厂锅炉管道检测机器人,实现其点对点直线轨迹运动.首先设计搭建缩比实验台及其控制系统.建立该机器人的运动学模型并研究其位置、速度及加速度正反解规律.在此基础上,对其进行点对点直线轨迹规划研究,运用位置离散微分和梯形速度规划对两轴在各点的位置速度时间进行求解,构成机器人起始点到终止... 相似文献
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在平夹模式下,传统机器人手指末端的运动轨迹为圆弧,工作空间小,不适合抓取工作台上的薄板物体.为此,本文提出了一种共圆滑杆直线机构,分析了该机构的工作原理、运动特性和工作空间,并基于该直线机构设计了一种新型的直线平夹自适应机器人手.设计的机器人手包含2根手指,共4个自由度,仅采用2根电机驱动,结构简单.每个手指由基座、电机、簧件、L型连杆和2个指段等组成.该装置具备直线平夹和自适应包络两种抓取模式,捏持精度高,无需借助额外的传感和控制系统即可适应不同位置、姿态和形状的物体.针对设计的机器人手进行了不同抓取模式分析、运动分析和受力分析,研究了不同参数对抓取力的影响,为机器人手的设计和优化提供依据.并且研制了原理样机,开展了抓取实验,结果表明:机器人手的设计和分析合理,该装置可以实现直线平夹和自适应抓取功能,既能直线平夹物体,也能稳定包络抓取形状、大小各异的物体. 相似文献
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在计算机视觉和图象处理中,单轴旋转运动被广泛地应用于基于图象的场景绘制,其中具有代表性的有同心拼图和立体全景图.在这些图象的绘制过程中,单轴旋转运动的旋转角度是一组关键的参数.旋转角度可以通过计算单轴旋转运动的不变量和对应点予以求解,然而在求解单轴旋转运动不变量的算法中,需要拟合场景中一个点的相对运动轨迹在图象平面形成的二次曲线.由于场景中点的在图象平面的可见轨迹所对应的旋转夹角较小,直接拟合非常困难.本文通过部分场景中存在的对应直线信息,给出了求解二次曲线的一个算法,并通过实验验证了算法的有效性. 相似文献
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在传统平面最小二乘拟合方法的基础上,提出空间直线拟合的方法。利用该方法对弧焊机器人的直线轨迹进行了拟合,拟合结果显示,机器人实到轨迹与指令轨迹之间存在较大误差,通过分析误差分布情况可以为机器人的位姿误差补偿及精度优化设计提供依据。 相似文献
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This paper thoroughly investigates the problem of robot self-location by line correspondences.The original cotributions are three-fold:(1) Obtain the necessary and sufficient condition to determine linearly the robot‘s pose by two line correspondences.(2) Show that if the space lines are vertical ones,it is impossible to determine linearly the robot‘s pose no matter how many line correspondences we have,and the minimum number of line correspondences is 3 to determine uniquely (but non-linearly)the robot‘s pose.(3) Show that if the space lines are horizontal ones,the minimum number of line correspondences is 3 for linear determination and 2 for non-linear determination of the robot‘s pose. 相似文献
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The basic idea of calibrating a camera system in previous approaches is to determine camera parmeters by using a set of known 3D points as calibration reference.In this paper,we present a method of camera calibration in whih camera parameters are determined by a set of 3D lines.A set of constraints is derived on camea parameters in terms of perspective line mapping.Form these constraints,the same perspective transformation matrix as that for point mapping can be computed linearly.The minimum number of calibration lines is 6.This result generalizes that of Liu,Huang and Faugeras^[12] for camera location determination in which at least 8 line correspondences are required for linear computation of camera location.Since line segments in an image can be located easily and more accurately than points,the use of lines as calibration reference tends to ease the computation in inage preprocessing and to improve calibration accuracy.Experimental results on the calibration along with stereo reconstruction are reported. 相似文献
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Jong Hwan Lim Leonard J.J. 《IEEE transactions on pattern analysis and machine intelligence》2000,22(9):1035-1041
This paper presents a method for relocation of a mobile robot using sonar data. The process of determining the pose of a mobile robot with respect to a global reference frame in situations where no a priori estimate of the robot's location is available is cast as a problem of searching for correspondences between measurements and an a priori map of the environment. A physically-based sonar sensor model is used to characterize the geometric constraints provided by echolocation measurements of different types of objects. Individual range returns are used as data features in a constraint-based search to determine the robot's position. A hypothesize and test technique is employed in which positions of the robot are calculated from all possible combinations of two range returns that satisfy the measurement model. The algorithm determines the positions which provide the best match between the range returns and the environment model. The performance of the approach is demonstrated using data from both a single scanning Polaroid sonar and from a ring of Polaroid sonar sensors 相似文献
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Liu Y. Huang T.S. Faugeras O.D. 《IEEE transactions on pattern analysis and machine intelligence》1990,12(1):28-37
A method for the determination of camera location from two-dimensional (2-D) to three-dimensional (3-D) straight line or point correspondences is presented. With this method, the computations of the rotation matrix and the translation vector of the camera are separable. First, the rotation matrix is found by a linear algorithm using eight or more line correspondences, or by a nonlinear algorithm using three or more line correspondences, where the line correspondences are either given or derived from point correspondences. Then, the translation vector is obtained by solving a set of linear equations based on three or more line correspondences, or two or more point correspondences. Eight 2-D to 3-D line correspondences or six 2-D to 3-D point correspondences are needed for the linear approach; three 2-D to 3-D line or point correspondences for the nonlinear approach. Good results can be obtained in the presence of noise if more than the minimum required number of correspondences are used 相似文献
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An autonomous mobile robot must have the ability to navigate in an unknown environment. The simultaneous localization and
map building (SLAM) problem have relation to this autonomous ability. Vision sensors are attractive equipment for an autonomous
mobile robot because they are information-rich and rarely have restrictions on various applications. However, many vision
based SLAM methods using a general pin-hole camera suffer from variation in illumination and occlusion, because they mostly
extract corner points for the feature map. Moreover, due to the narrow field of view of the pin-hole camera, they are not
adequate for a high speed camera motion. To solve these problems, this paper presents a new SLAM method which uses vertical
lines extracted from an omni-directional camera image and horizontal lines from the range sensor data. Due to the large field
of view of the omni-directional camera, features remain in the image for enough time to estimate the pose of the robot and
the features more accurately. Furthermore, since the proposed SLAM does not use corner points but the lines as the features,
it reduces the effect of illumination and partial occlusion. Moreover, we use not only the lines at corners of wall but also
many other vertical lines at doors, columns and the information panels on the wall which cannot be extracted by a range sensor.
Finally, since we use the horizontal lines to estimate the positions of the vertical line features, we do not require any
camera calibration. Experimental work based on MORIS, our mobile robot test bed, moving at a human’s pace in the real indoor
environment verifies the efficacy of this approach. 相似文献
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移动机器人基于激光测距和单目视觉的室内同时定位和地图构建 总被引:16,自引:1,他引:16
该文研究了部分结构化室内环境中自主移动机器人同时定位和地图构建问题.基于激光和视觉传感器模型的不同,加权最小二乘拟合方法和非局部最大抑制算法被分别用于提取二维水平环境特征和垂直物体边缘.为完成移动机器人在缺少先验地图支持的室内环境中的自主导航任务,该文提出了同时进行扩展卡尔曼滤波定位和构建具有不确定性描述的二维几何地图的具体方法.通过对于SmartROB-2移动机器人平台所获得的实验结果和数据的分析讨论,论证了所提出方法的有效性和实用性. 相似文献