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3D目标识别定位算法参数优化研究
其他题名: Research on Parameter Optimization of 3D Target Recognition and Location Algorithm for Robot Astronaut
作者: 潘旺; 郝颖明; 朱枫; 付双飞
作者部门: 光电信息技术研究室
通讯作者: 潘旺
关键词: 机器人航天员 ; Robonaut 2 ; 目标识别定位 ; 3D测量 ; 形状匹配 ; HALCON
刊名: 载人航天
ISSN号: 1674-5825
出版日期: 2016
卷号: 22, 期号:5, 页码:555-563
收录类别: CSCD
产权排序: 1
项目资助者: 总装预研项目(050101)
摘要: 针对机器人航天员抓取目标物体时的快速识别定位问题,分析了HALCON中基于CAD模型的三维目标识别与定位算法在美国Robonaut 2视觉上的应用;对该算法的参数优化进行了研究,分析了各个参数对算法的影响效果,并对各个参数的选择原则以及协调搭配进行了探讨;最后搭建实验平台,验证了优化效果,证明这些优化提高了模板匹配的相似度,达到100%正确识别率,处理百万像素图像仅需约200 ms,且位置平均精度小于2 mm,角度平均精度小于1°。
英文摘要: This paper aims at the fast recognition and location issue of the robot astronaut when grabbing objects. The main applications of the 3D target recognition and location algorithm in HALCON based on CAD models used in the vision of American Robonaut 2 were described. Then the parameter optimization of the algorithm was studied. The effect of various parameters on the algorithm was analyzed. In addition, the selection principle and harmonious collocation of all parameters were discussed. Finally, an experimental platform was set up and it was validated that the proposed optimization improved the similarity of template matching, achieved 100% correct recognition rate, and only spent more than 200ms for the megapixel image. The mean position accuracy was less than 2mm and the orientation accuracy was less than 1 degree.
语种: 中文
Citation statistics:
内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/19219
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3D目标识别定位算法参数优化研究.pdf(2963KB)期刊论文作者接受稿开放获取View Download

Recommended Citation:
潘旺,郝颖明,朱枫,等. 面向机器人航天员的3D目标识别定位算法参数优化研究[J]. 载人航天,2016,22(5):555-563.
Service
Recommend this item
Sava as my favorate item
Show this item's statistics
Export Endnote File
Google Scholar
Similar articles in Google Scholar
[潘旺]'s Articles
[郝颖明]'s Articles
[朱枫]'s Articles
CSDL cross search
Similar articles in CSDL Cross Search
[潘旺]‘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3D目标识别定位算法参数优化研究.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 © 2007-2017  中国科学院沈阳自动化研究所 - Feedback
Powered by CSpace