Dissertation > Excellent graduate degree dissertation topics show

The Research on Robot Obstacle Detection Methods Based on Stereo Vision

Author: TianXiuZhen
Tutor: ZhangBaoFeng; ZhangXiaoLing
School: Tianjin University of Technology
Course: Detection Technology and Automation
Keywords: Stereo Vision Obstacle Detection Camera Calibration Stereo Matching 3-d Reconstruction
CLC: TP391.41
Type: Master's thesis
Year: 2012
Downloads: 136
Quote: 0
Read: Download Dissertation

Abstract


Stereo vision is one of the most important research direction of machine vision andbinocular stereo vision is a way to simulate eyes directly how to deal with scene. Based ontriangulation principle, binocular stereo vision technology can reconstruct the 3-d informationof an object by processing its images. It is used in a wide range, and has become the researchfocus in the field of stereo vision. In the field of robots study, fast detection of obstacles is oneof the key technologies to realize the robots autonomic navigation. Therefore, adoptingbinocular stereo vision to further study robot obstacle detection methods is significant. Wehave researched the key technologies of binocular stereo vision. Detecting and locatingobstacles existing in the area of robot forward is the foundation for autonomic navigation andobstacle avoidance.Based on the research of robot obstacle detection methods, this paper mainly includes thefollowing content: binocular camera calibration, stereo images matching, 3-d reconstructionof obstacles and so on.Accurate camera calibration is the base to realize obstacles detection with stereo visiontechnology. This part introduces the camera model, camera calibration principle and somecommon camera calibration methods in detail. In this paper, the improved calibration methodof Zhang is used for camera calibration, this method with good reliability, high accuracy andsimple process, can mainly meet the demands of binocular vision system. In order to satisfythe real-time characteristic of robot obstacle detection, this paper selects a stereo matchingmethod based on SIFT operator, and combines with the polar line constraint conditions. Thiscan reduce the search space from 2-d to1-d, then uses the 128-d SIFT descriptor for the match.During the experimental process, the binocular vision system has been placed parallelly, in the3-d reconstruction process of the stereo matching points, on the basis of the projectiontransformation matrix, we adopt a method based on projection linear equation to calculate its3-d coordinates, then realize obstacle detection and location.Proved by the Matlab simulation experiment, the robot obstacle detection method basedon binocular stereo vision in this paper has good real-time characteristic and higher accuracy.Generally speaking, this method proposed in this paper can be applied to other binocularvision system well. It is beneficial for the follow-up study.

Related Dissertations

  1. Algorithm Research on SINS/GPS Integrated Navigation Syste,V249.328
  2. The Research of 3D Human Motion Capture Based on Reference Points,TP391.41
  3. Culture never ending concern,I207.42
  4. The Reconstruction of the Archive of S(?)-Mama, the Cattle and Flock Official of the Tribute Animal Center of Ur-Ⅲ Dynasty (AS 6 Ⅰ- AS 8 Ⅳ),K124
  5. Study on the Algorithm of Cranio-facial Reconstruction,TP391.41
  6. The Reconstruction of the Archives of Lú-di Ir-ra I, the Wild Animal Official of the Animal Center of Ur-III Dynasty in Puzri-Dagan( 39 Iii, 46’ I’ ( 46 Vi) /23- S 1 V /11),K124
  7. Suzhou’s Economic Recovery and Social Reconstruction During the Military Control Period (1949-1952),K27
  8. The Reconstruction of the Archives of the Su11-ga-li ((?) 37 V-IS 2 Ⅻ/30), the Wild Animal Official and Tahi(?)-atal (AS 4 Ⅱ/13-(?)S 3 Ⅳ/4), the Domestic Animal Official of the Animal Center of Ur-Ⅲ Dynasty in Puzri(?)-Dagan,K124
  9. On digital image reconstruction era aesthetics,J905
  10. Reconstruction · Creation,J524
  11. 3D Laser Scanning Technology Application in the Field of Protection for Petroglyph,K854
  12. Explore to Establish a New Mechanism for Handling Labor Disputes,D922.5
  13. The Research on Key Technologies of Practical-oriented Panel Die-face Design,TG76
  14. The Research of Adaptively Sparsity in the Matching Pursuit Algorithm,TN911.7
  15. Green Plant Modification Research of A Company,F426.92
  16. Entropy-Maximization Molecular Reconstruction of Crude Oil,TE622.1
  17. Research on Technology of Terrain Measuring Based on Binocular Vision,TP391.41
  18. Financial Evaluation and Risk Control of Technical Reconstruction of TBHQ,F285
  19. Function Deficit and Reconstruction of News Media in the Socialist Harmonious Society Building,G219.2
  20. The System for Engineering Drawing Vectoring and 3D Reconstruction,TP391.41
  21. On the Reconstruction of Comprehensive Law Enforcement,D922.1

CLC: > Industrial Technology > Automation technology,computer technology > Computing technology,computer technology > Computer applications > Information processing (information processing) > Pattern Recognition and devices > Image recognition device
© 2012 www.DissertationTopic.Net  Mobile