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| 基于全景视觉的机器人回航方法 | |
| 引用本文： | 朱齐丹,李科,雷艳敏,孟祥杰.基于全景视觉的机器人回航方法[J].机器人,2011,33(5):606-613. |
| 作者姓名： | 朱齐丹 李科 雷艳敏 孟祥杰 |
| 作者单位： | 1. 哈尔滨工程大学自动化学院,黑龙江哈尔滨,150001 2. 哈尔滨工程大学自动化学院,黑龙江哈尔滨150001;中国航天三院8358所,天津300000 3. 哈尔滨工程大学自动化学院,黑龙江哈尔滨150001;长春大学电子信息工程学院,吉林长春130022 |
| 基金项目： | 国家自然科学基金资助项目(60875025) |
| 摘 要： | 提出一种使用全景视觉系统引导机器人回航的方法.利用全景视觉装置采集出发位置(Home位置)的全景图像,使用SURF(Speeded-Up Robust Feature)算法提取全景图像中的特征点作为自然路标点.机器人回航过程中,将当前位置获得的全景图像与Home位置的全景图像进行特征匹配,确定白然路标点之间的对应关系.... |
| 关 键 词： | 机器人 全景视觉 视觉回航 SURF特征 |
Robot Homing Based on Panoramic Vision |
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| ZHU Qidan,LI Ke,LEI Yanmin,MENG Xiangjie.Robot Homing Based on Panoramic Vision[J].Robot,2011,33(5):606-613. | |
| Authors: | ZHU Qidan LI Ke LEI Yanmin MENG Xiangjie |
| Affiliation: | ZHU Qidan~1,LI Ke~(1,2),LEI Yanmin~(1,3),MENG Xiangjie~1 (1.College of Automation,Harbin Engineering University,Harbin 150001,China,2.Research Institute 8358 of 3rd Institute of China Aerospace Science & Industry Corp,Tianjin 300000,3.School of Electronic and Information Engineering,Changchun University,Changchun 130022,China) |
| Abstract: | A method of robot homing based on panoramic vision is proposed.The omni-directional images of home position can be collected through the panoramic vision device.Then,feature points in the omni-directional image are extracted by adopting SURF(Speeded-Up Robust Feature) algorithm and are used as natural landmarks.During the course of homing, the panoramic images of home position and current position are matched using SURF algorithm,so that the corresponding relations of the natural landmarks between the curre... |
| Keywords: | robot panoramic vision visual homing SURF(Speeded-Up Robust Feature) |
| 本文献已被 CNKI 万方数据 等数据库收录！ | |