基于opencv的带电作业机器人立体视觉实现-(5624)

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1、万方数据山东科技大学硕士学位论文摘要ABSTRACTInrecentyears，themostactivebranchofroboticsresearchisstereoscopictechnologyundoubtedly,whichisanimportantsignofintelligentrobots．Inthispaper’theoperatingplatformforthehardwaredeviceofthehotlinerobottobinocularstereovisionbasedont

2、heOpenCVlibraryfunctionstoachievestereoscopicvision．Themachinevisionandthehardwaredeviceofthehotlinerobotwhicharecombinedliveoperations，notonlytoincreasethesafetyfactorofstaff,butalsotoimprovetheefficiencyofliveoperationsgreatly．Therefore，thestudyofthisar

3、ticlehasimportanttheoreticalandpracticalsignificance．Conductedexperimentstargetvariousstagesoftheimplementationprocessoftheapproach，analysisandcomparisonandmadeaappropriatemethodbasedontheOpenCVoftoachievestereovisionrobotapplicableunderlaboratoryconditio

4、ns．Thethree—dimensionalreconstructionisthemainpurposeofhumanvision，isthemostimportantresearchdirectionincomputervision(Mart1982)．TheSO—calledthree—dimensionalreconstructionprocessreferstofromtheimagestartingtorecoverthethree—dimensionalcoordinates．Acomple

5、tesystemcarlgenerallybedividedintostereoscopicimageacquisition，calibration，featureextraction，severalimportantpartstereomatching．Createastereoscopicimageplaneandthespacecorrespondingtothesurfaceoftheimagingrelationshipisparticularlyimportantpoint，therefore

6、thecameraparametercMibrationisthefirstproblemneededtosolve．Inthispaper,developedatargetimageacquisitionsystembasedonBaslercamerainthestudy,throughinsideandoutsidetheparametersofthecameraandthelensdistortionmodelanalysistoshowacheckerboardcalibrationmethod

7、basedonOpenCVlibraryanduseittocalibratetheinsideandoutsideparametersofcamera．Bycomparingseveralcalibrationmethods，selecttheZhangZhengyoucalibrationmethodfinal．Imagepreprocessingbinocularstereovisionisthefoundationandprerequisitetoachieveathree—dimensional

8、reconstruction．Inthispaper,thethirdchapteranalyzesthegeneralcharacteristicsoftheimage，theoriginalimagepreprocessingthroughthegrayimage，imagefilteringandhistogramequalization，andcombinedwithOpenCVtoprogram，theexperim