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Based on Binocular Vision Technology of Mobile Robot Navigation

Author: DengFeng
Tutor: HanXiaoWei
School: Shenyang University
Course: Control Theory and Control Engineering
Keywords: Mobile robot Binocular vision Camera Calibration Image registration Visual navigation
CLC: TP391.41
Type: Master's thesis
Year: 2010
Downloads: 264
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Abstract


With the rapid development of machine vision and robot navigation technology, the robot has a higher intelligence and greater ability to adapt to the trends of its practical application. Therefore, based on the visual system of mobile robot navigation technology to become a hot topic in the field of robotics research. Target recognition and positioning of the robot technology is the foundation and the key to its success precise navigation. Rich image information, and the overall scene description, is an important source of the mobile robot sensing the environment. In recent years, the vision-based navigation technology has been widely used, but in the practical application of real-time problem is still not good solution. In this paper, the practical application of the binocular vision system simulation of the human eye structure, real-time image information, focusing on the camera calibration, image registration, target recognition, and hardware-based embedded system design in mobile robot navigation depth Analysis and Research. The paper first discusses the composition of the mobile robot the binocular visual navigation research purpose, meaning and binocular vision system, focusing on the development status and key technology of mobile robot navigation technology at home and abroad. This paper is based on the theory of binocular stereo vision, binocular cameras shooting the same scene from a different location and image acquisition. The camera calibration binocular vision system based on camera model and calibration method for camera calibration using Tsai two-step method, this method can effectively access to the internal and external parameters of the camera, and the completion of the high precision of the binocular camera calibration, laid the foundation for the precise positioning of the target. Image registration techniques is a key link of the image processing and analysis, a necessary prerequisite for target recognition. In this paper, a fast corner detection extract corner features coarse matching of the corresponding point bidirectional grayscale calculated using the epipolar constraint and the fundamental matrix, further precise matching of image. The experiments show that, by the two-step matching is possible to improve the accuracy and speed of the stereo image matching. In addition, by the shape-based target identification, to achieve accurate positioning of the mobile robot, thereby commanding the mobile robot according to the walking route of the path planning, mobile robot binocular navigation functions. In this paper, as the core processing chip, ARM embedded FPGA coprocessor hardware design, to achieve high-speed computation of the fast processing of a large number of image information and data, the software side, the optimization algorithm to improve the efficiency and speed of execution of the image processing to solve the mobile robot navigation technology in the presence of real-time problems.

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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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