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The Research of Visual Positioning Technology on the Binocular Robot

Author: LinLin
Tutor: NiuHaiJun
School: Xi'an University of Electronic Science and Technology
Course: Mechanical and Electronic Engineering
Keywords: Robot Camera Calibration Data Fusion Stereo matching Targeting
CLC: TP391.41
Type: Master's thesis
Year: 2009
Downloads: 674
Quote: 16
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Abstract


With the development of industrial automation , increasing the degree of automation of the production and processing , robot vision is becoming increasingly important in the automated production . Stereo vision technology is one of the most active branch of the robot vision research is an important symbol of the intelligent robot . Access to large amounts of information on the basis of the use of binocular vision positioning technology, to achieve the identification and location of the robot on the target . First, a cross between the inside and outside of the traditional calibration and self-calibration parameter calibration separation method , the camera internal parameters perspective imaging model based on physical methods to extract ; reasonable selection of external parameter calibration reference coordinate system through experimental analysis strike two cameras outside the parameters of the model . The algorithm is simple and easy to understand , calculate the speed , the equipment required is simple , practical . Finally , through the trials of the effectiveness of the method . Second , digital image processing as the basic means , combined with data fusion theory , feature-based stereo matching method using image pre-processing method for this topic , the real-time requirements , image segmentation , color image segmentation and give the experimental results . Target feature extraction , for a target having a circular feature extraction target circle characteristics , and then the extracted feature points of left and right images are matched with the epipolar constraint . Finally, the combination of the camera calibration results and the extracted feature points , depth recovery camera imaging inverse transform is performed on the target feature point , to locate the target . The experimental results show that this topic using binocular stereo vision positioning method has higher accuracy .

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CLC: > Industrial Technology > Automation technology,computer technology > Computing technology,computer technology > Computer applications > Information processing (information processing) > Pattern Recognition and devices > Image recognition device
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