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面向机器人航天员的3D目标识别定位算法参数优化研究
Alternative TitleResearch on Parameter Optimization of 3D Target Recognition and Location Algorithm for Robot Astronaut
潘旺; 郝颖明; 朱枫; 付双飞
Department光电信息技术研究室
Source Publication载人航天
ISSN1674-5825
2016
Volume22Issue:5Pages:555-563
Indexed ByCSCD
CSCD IDCSCD:5825048
Contribution Rank1
Funding Organization总装预研项目(050101)
Keyword机器人航天员 Robonaut 2 目标识别定位 3d测量 形状匹配 Halcon
Abstract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°。
Other AbstractThis 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.
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/19219
Collection光电信息技术研究室
Corresponding Author潘旺
Affiliation1.中国科学院沈阳自动化研究所光电信息技术研究室
2.中国科学院大学
3.中国科学院光电信息处理重点实验室
4.辽宁省图像理解与视觉计算重点实验室
Recommended Citation
GB/T 7714
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.
APA 潘旺,郝颖明,朱枫,&付双飞.(2016).面向机器人航天员的3D目标识别定位算法参数优化研究.载人航天,22(5),555-563.
MLA 潘旺,et al."面向机器人航天员的3D目标识别定位算法参数优化研究".载人航天 22.5(2016):555-563.
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