机器人双目视觉定位技术研究

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1、西安电子科技大学硕士学位论文机器人双目视觉定位技术研究姓名：林琳申请学位级别：硕士专业：机械电子工程指导教师：牛海军20090101AbstractWi协thedevelopmentoftheindustryautomation，andtheimprovementoftheautomationlevelofproduction，therobotvisionbecomesmoreandmoreimportantintheautomaticproduction．Thetechnologyofstereovisionisthemo

2、stactiveembranchment，anditisalsotheimportantsymboloftheintelligentrobots．Byreferringtoagreatdealoftheinformationavailable，wehaveusedthetechnologyofthebinocularstereoscopicvisiontomakerecognizeandlocatethetargetbytherobot．Firstly，aCCDcalibratingapproachthatitisinthe

3、midstoftraditionalandself-calibratingmethodshasbeenpresentedtoseparatetheinnerandtheouterparameters．Basedonperspectivemodel，thecamerainnerparameterswereproposedwithphysicsmethod．TheouterparametermodeloftwoCCDCanbeconstructedbyselectingappropriatereferenceframeandan

4、alyzingexperimentdata．Themethodissimple，speediness，understandability,andpracticality．Thentheresultsofcomputersimulationsprovethatthemethodiscorrect．Secondly,usingdigitalimageprocessingtechnologybasicallyandcombiningwithpatternrecognitiontechnology,thestereomatching

5、waybasedonthefeaturehasbeenstudied，andthentookthepreprocessmethodfitforthetask．Inimagesegmentation，thispaperproposedColorImageSegmentationmethodwhichhasbeenchangedabittomakeitmoresuitableforthetask．Targetfeatureextractionforcircularfeatureswiththeobjective，extracti

6、ngcharacteristicsofthecentralobjectives，andthenmatchingthefeaturepointsofleftimage’Sobjectandrightimage’objectundertheconstraintofepipolarline．Finally，combinedthecamera'scalibratingresultsandthefeaturepointsoftheobject，andusedtheimagingcamerasinversetransformtoreco

7、verthedepthcharacteristicsofthetargetpoints，thentheobject’Spositionisknown．Theresultsoftheexperimentshowthatthemethodofbinocularstereoscopicvisionhasahighprecision．KeyWords：Robotcameracalibrationdatafusionstereomatchingobjectlocalization西安电子科技大学学位论文独创性(或创新性)声明秉承学校严

8、谨的学风和优良的科学道德，本人声明所呈交的论文是我个人在导师指导下进行的研究工作及取得的研究成果。尽我所知，除了文中特别加以标注和致谢中所罗列的内容以外，论文中不包含其他人已经发表或撰写过的研究成果；也不包含为获得西安电子科技大学或其它教育机构的学位或证书而使用过的材料。与我一同工作的同志