中国科学院沈阳自动化研究所机构知识库
Advanced  
SIA OpenIR  > 光电信息技术研究室  > 期刊论文
题名: 面向机器人航天员的球形目标识别与定位方法研究
其他题名: Study on Spherical Target Identification and Localization Method for Robonuant
作者: 范晓鹏; 郝颖明; 朱枫; 付双飞
作者部门: 光电信息技术研究室
关键词: 机器人航天员 ; 单目视觉 ; 双目视觉 ; TOF ; 球形目标 ; 圆锥方程
刊名: 载人航天
ISSN号: 1674-5825
出版日期: 2016
卷号: 22, 期号:3, 页码:1-6
收录类别: CSCD
产权排序: 1
摘要: 针对机器人航天员在典型目标识别与定位方面的问题,提出一种球形目标识别与定位方法,利用目标颜色特征和形状特征实现了目标识别,采用空间射影几何方法推导了单目视觉空间球定位公式,建立了硬件试验环境,在此环境下实现了基于彩色相机的单目视觉定位、双目立体视觉定位以及融合TOF相机和彩色相机的视觉定位方法。通过真实试验和仿真实验对这些方法进行了比较分析,得到了各自的适用条件,为工程应用中具体方法的选择提供了依据。
英文摘要: A spherical target identification and localization method was proposed for typical target identification and positioning problems of robonuant. Target recognition was realized by using objective color and shape characteristics. The monocular vision ball localization formula was derived with spatial projective geometry method. Then the hardware experiment environment was established to conduct the monocular camera positioning test, binocular stereovision positioning test and visual positioning fusing TOF cameras and color cameras test. By comparing and analyzing the test results of these real experiments and the simulations, their applicable conditions were obtained. These applicable conditions could serve as a reference for the engineering applications.
语种: 中文
Citation statistics:
内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/18650
Appears in Collections:光电信息技术研究室_期刊论文

Files in This Item: Download All
File Name/ File Size Content Type Version Access License
面向机器人航天员的球形目标识别与定位方法研究.pdf(1312KB)期刊论文作者接受稿开放获取View Download

Recommended Citation:
范晓鹏,郝颖明,朱枫,等. 面向机器人航天员的球形目标识别与定位方法研究[J]. 载人航天,2016,22(3):1-6.
Service
Recommend this item
Sava as my favorate item
Show this item's statistics
Export Endnote File
Google Scholar
Similar articles in Google Scholar
[范晓鹏]'s Articles
[郝颖明]'s Articles
[朱枫]'s Articles
CSDL cross search
Similar articles in CSDL Cross Search
[范晓鹏]‘s Articles
[郝颖明]‘s Articles
[朱枫]‘s Articles
Related Copyright Policies
Null
Social Bookmarking
Add to CiteULike Add to Connotea Add to Del.icio.us Add to Digg Add to Reddit
文件名: 面向机器人航天员的球形目标识别与定位方法研究.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 
评注功能仅针对注册用户开放,请您登录
您对该条目有什么异议,请填写以下表单,管理员会尽快联系您。
内 容:
Email:  *
单位:
验证码:   刷新
您在IR的使用过程中有什么好的想法或者建议可以反馈给我们。
标 题:
 *
内 容:
Email:  *
验证码:   刷新

Items in IR are protected by copyright, with all rights reserved, unless otherwise indicated.

 

 

Valid XHTML 1.0!
Copyright © 2007-2016  中国科学院沈阳自动化研究所 - Feedback
Powered by CSpace