| 单目视觉测距在移动机器人的应用 |
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| 引用本文： | 李欣,董建园. 单目视觉测距在移动机器人的应用[J]. 计算机技术与发展, 2013, 0(11): 247-250 |
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| 作者姓名： | 李欣 董建园 |
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| 作者单位： | 西安建筑科技大学,陕西西安710055 |
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| 基金项目： | 陕西省教育专项科研计划项目（11Jk0986） |
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| 摘 要： | 运用Matlab软件中摄像机标定工具箱通过传统的摄像机小孔成像原理对摄像机内外参数进行标定。找出图像像素坐标系与机器人所在地面的世界坐标系之间的联系。并且借助图像中消失点，确定机器人移动路径。找出图像上对应的机器人预通过区域。基于对障碍物边缘检测确定其是否出现在预通过区域上，并仅对区域内的障碍物进行单目视觉测距。在计算距离时提出了一种仅与机器人移动方向相关的距离计算方法。以保证机器人移动时不会与前方障碍物相碰撞。
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| 关 键 词： | 边缘检测 路径估计 摄像机标定 |
Application of Monocular Vision Measurement in Mobile Robot |
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| LI Xin,DONG Jian-yuan. Application of Monocular Vision Measurement in Mobile Robot[J]. Computer Technology and Development, 2013, 0(11): 247-250 |
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| Authors: | LI Xin DONG Jian-yuan |
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| Affiliation: | ( xi＇ an University of Architecture and Technology, Xi＇ an 710055, China ) |
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| Abstract: | Application of camera calibration toolbox in the Matlab software calibrated the carema＇ s interior and exterior parameters by traditional camera pinhole imaging principle. Find out the connection between the image pixel coordinate system and the world coordinate system. And with the vanishing point in ＂die image, determine the robot moving path. Find out the robot pre-pass area in the image. Based on the edge detection of the obstacles,determine whether it is appeared in the pre-pass area,and conduct monocular vision measurement for the obstacles. Put forward a kind of distance calculation method along the robot moving direction related. Ensure the robot doesn＇ t collide with obstacles. |
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| Keywords: | edge detection path estimation camera calibration |
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