Dissertation > Excellent graduate degree dissertation topics show

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
Read: Download Dissertation


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 .

Related Dissertations

  1. The Research of Navigation Multi-Sensor Data Fusion Technology Based on Micro Unmanned Platform,V249.32
  2. The Design of a DSP-Based Robot Speech Command Recgnition System,TN912.34
  3. Research on Multi-Sensor Embattling and Continious Tracking Technique Applying for Anti-Stealth and Anti-Interference,TN953
  4. The Research of 3D Human Motion Capture Based on Reference Points,TP391.41
  5. Camera Calibration and Position and Pose Detecting on Vision Measurement System of PCB,TP391.41
  6. Development of Experimental Robot Control System Based on ARM,TP242.6
  7. Design and Realize of Family Cleaning Robot Path-Coverage System,TP242
  8. Humanoid Robot Soccer System Based on Global Vision System,TP242.6
  9. Research on Multi-Robot Cooperative Pursuit Problem,TP242
  10. Reaserch on Dynamics for Fast Walking of Biped Robot,TP242.6
  11. The Research on a New Modular Self-Reconfigurable Robot,TP242.2
  12. Mechanism Design and Kinematic Simulation of a Celiac Invasive Surgical Robot,TP242.3
  13. Key Control Technique of Wafer Handling Robot,TP242.2
  14. Training Program and Rehabilitative Effect Appraisal of Lower Limbs Rehabilitative Robot,R49
  15. Fire Fighting System Research for the Offshore Platform,U698.4
  16. Study on the Interaction between Functionalized Nanodiamond Materials and Cells,R96
  17. The Prokaryotic Expression of Melittin Gene and Its Targeting Transcription in Hela Cells,R346
  18. Complex functions drug-loaded microspheres and in spinal cord injury treatment Application of,R943
  19. Based on green fluorescent gene targeting studies of transgenic silkworm silk,Q78
  20. Contemporary China Exploration targeting rural compulsory education,G522.3
  21. Humaniod Robot Development and Research,TP242

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