多传感器融合技术在机器人环境辨识中的研究

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1、上海大学硕士学位论文多传感器融合技术在机器人环境辨识中的研究姓名：林锋申请学位级别：硕士专业：计算机应用指导教师：陈一民20040101上海夫学硕士学位论文ResearchofMulti-sensorFusionUsedinRobotAbstractCircumstanceIdentificationSystemItseldomusessinglesensorincircu扔stanceidentificationsystem．becauseeachsensorisrestrictedinawaybysomeconditions，anditonlyreflectsacer

2、tainaspectofthesystem．Ontheotherhand。theveracityandreliabilityareleavengreatlybytheexotericdisturbance．Thetechniqueofmulti-sensorfusioniswidelYusedinthetrueidentificationsystem．Itsapplicationscopespreadsfromthetechnologytootherareas，suchastrafficandrobotsystem．Themaincontentoftheresearchi

3、stodevelopamotiontrackingsystembasedonmulti—sensorfusiontechnologyforanindustrialrobot．ThesystemhastheabilitytotrackandestimatethemotiOllofabar，andthefunctionofcollisionidentificationandpresentimentcaralsobeachieyed．Atfirst，theframeworkofthesoftwareandthehardwareoftherobotsystemareintrodu

4、ced．Secondly，theresearchofmulti-sensorfusionisdividedintothreebasicphrasesasfollows：thefusionofvisionsensors，thetechnologyofultrasonicsensorandthetechnologyofmulti-sensorfusion．Inthisdissertation，acameramodelbasedonstereovisionisintroduced．Theinformationcapturedbytwocamerasisfusedtorealiz

5、ethestereovision．Notonlytheextrinsicparametersofthecamerabutalsotheintrinsicparameters，suchastheeffectivefocallength，anddistortionparameters，areconsidered．Inordertosatisfythemeasurerequirementofprecisionandspeed，weusesorespecialmarkerssetonthebarinordertotrackthemotionofthebar．Theresultof

6、theexperimentshowsthattheinformationindepthhasuppererrors．SoweuseU1trasonicsensortooffsetthedeficiencyofstereovision．Thetheoryandthecharacteristicsoftheultrasonicsensorareanalyzedindetail，andthehardwaretransferringtheinformationfromtheultrasonicsensortothecomDuterisdevised．Atthesametimewe

7、introducehowtodeviseit．Accuratedataindepthofthebarcanbegotintheexperiment．ThroughanalyzingtherelationshipbetweenthestereoVisionandtheultrasonicsensor，wefindthattheycansupplytheinformationtoeachother，especiallY，theultrasonicsensorcansupplytheinformationtoenhancethepr