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基于单目视觉的移动机器人系统物体捡拾作业控制
Alternative TitleObject Pick up Manipulation Control of a Mobile Robotic system Based on Monocular Vision
杨唐文; 韩建达; 秦勇; 阮秋琦; 孙增圻
Department机器人学研究室
Conference Name2012 31th Chinese Control Conference
Conference DateJuly 25-27, 2012
Conference PlaceHefei, China
Author of SourceTechnical Committee on Control Theory,Chinese Association of Automation
Source PublicationProceedings of the 31st Chinese Control Conference
PublisherChinese Association of Automation
Publication PlaceBeijing
2012
Pages4878-4883
Indexed ByEI ; CPCI(ISTP)
EI Accession number20130716024287
WOS IDWOS:000393905904183
Contribution Rank2
ISSN1934-1768
ISBN978-9-8815-6381-1
Keyword移动机器人系统 单目视觉 物体识别 三维测量 捡拾作业
Abstract提出了一个较完整的移动机器人系统物体捡拾控制方案,包括物体识别,目标精确测量和定位,以及系统导航控制三个模块。在物体识别中,采用符合人类视觉特性的HSI模型,通过融入连通区域标记和形态学开闭运算,解决了多分割策略引起的不稳定性问题。此算法对光照变化和近似色噪声干扰均具有较高的鲁棒性,在复杂背景条件下能够准确识别出捡拾目标。在捡拾物体在线精确测量和定位中,结合地平面的约束条件和摄像机成像模型,提出了单目视觉目标测量算法理论和模型,给出了相应的目标定位及误差校正曲线。最后,在导航控制过程中,为了避免视觉盲区,在测量和定位之前,先对目标物体的位置进行了半量化的分区调整,调整策略充分利用摄像机的自动变焦特性,提高了捡拾目标物体测量和定位的精度。这里所提出的解决方案在移动机器人平台上进行了大量的实验,结果证明系统在复杂背景环境下能够完成目标物体的捡拾作业。
Other AbstractThis paper introduces a mobile robot system for object pickup in an indoor environment,including object recognition, target localization and navigation control algorithm models.A HSI based algorithm is presented here to realize object recognition,which makes use of Morphological filtering method to improve the stability due to multi-channel and multi-step segmentation.This algorithm is robust to varying illumination and image noises,and able to recognize accurately a target under very complicated environmen...
Language中文
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Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/10226
Collection机器人学研究室
Affiliation1.Institute of Information Science, Beijing Jiaotong University, Beijing 100044, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
3.State Key Laboratory of Rail Traffic Control and Safety, Beijing Jiaotong University, Beijing 100044, China
4.Department of Computer Science and Technology, Tsinghua University, Beijing 100084, China
Recommended Citation
GB/T 7714
杨唐文,韩建达,秦勇,等. 基于单目视觉的移动机器人系统物体捡拾作业控制[C]//Technical Committee on Control Theory,Chinese Association of Automation. Beijing:Chinese Association of Automation,2012:4878-4883.
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