| 服务机器人目标同时识别与位姿判定研究 |
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| 引用本文： | 吴培良,孔令富,李海涛.服务机器人目标同时识别与位姿判定研究[J].工程图学学报,2010,31(5):81-88. |
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| 作者姓名： | 吴培良 孔令富 李海涛 |
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| 作者单位： | 燕山大学信息科学与工程学院,河北,秦皇岛,066004 |
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| 基金项目： | 国家自然科学基金资助项目(60975062); 国家“863”计划CIMS主题资助项目(2006AA04Z212) |
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| 摘 要： | 目前机器人尚难以自主建立起目标姿态的概念,通过人机交互方式辅助机器人对目标建模则不失为一种可行方案。提出了一种基于新型目标模型的离线/在线两步目标识别与位姿判定系统。离线阶段采用人机交互方式构建目标模型,在线阶段通过场景图像与目标模型的特征点对应即可自动发现目标,并计算其相对于机器人的位姿。实验证明,该系统能够有效完成对纹理目标的同时识别与位姿判定。
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| 关 键 词： | 计算机应用 新型目标模型 SIFT特征 目标同时识别与位姿判定 |
Object Simultaneous Recognition and Pose Estimation for Service Robot |
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| WU Pei-liang,KONG Ling-fu,LI Hai-tao.Object Simultaneous Recognition and Pose Estimation for Service Robot[J].Journal of Engineering Graphics,2010,31(5):81-88. |
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| Authors: | WU Pei-liang KONG Ling-fu LI Hai-tao |
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| Affiliation: | WU Pei-liang,KONG Ling-fu,LI Hai-tao(College of Information Science and Engineering,Yanshan University,Qinhuangdao Hebei 066004,China) |
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| Abstract: | At present it is still difficult for service robot to estimate the pose of different objects autonomously,and guiding service robot to build the object model by human-machine cooperation techniques seems to be a feasible scheme.A novel object model is proposed and based on which a two-step of offline/online system is presented to recognize the object and estimate its pose simultaneously.At the offline step the object model is built guided by human-machine cooperation techniques,at the online step the object... |
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| Keywords: | computer application novel object model SIFT feature object simultaneous recognition and pose estimation |
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