摘要
介绍了一种基于轮式机器人的立体视觉平台设计方案。给出了双目立体视觉原理和数学模型,从摄像机定标和对应点匹配两个方面讨论了形状与位置三维重建,阐述了双目立体视觉平台的设计,重点介绍了硬件平台的组成结构及各功能模块的电路组成与功能实现。该系统可根据具体应用情况灵活配置,因而结构合理、实用性强。
A kind of stereo vision platform design based on a wheeled-robot is introduced, the principle and mathematical model ofstereo vision as well as camera calibration and stereo vision matching are presented, the design of stereo vision platform is discussed, and the composition and structure of the hardware platform and the circuit and function of various module are introduced with emphasis. The system is configured according to applications, thus the structure is reasonable, and the usability is strong.
出处
《计算机工程与设计》
CSCD
北大核心
2006年第18期3379-3381,共3页
Computer Engineering and Design
基金
四川省2004年重点科技基金项目(04GG006-032)。
