期刊文献+
任意字段
题名或关键词
题名
关键词
文摘
作者
第一作者
机构
刊名
分类号
参考文献
作者简介
基金资助
栏目信息

自主足球机器人全维视觉系统的设计与建模 被引量：4

Design and Modeling of Omni-Directional Vision System of the Automomous Soccer Robot
在线阅读 下载PDF
导出
摘要 对全维视觉系统(OPVS)及其成像模型进行了研究。利用单视点约束条件和方程设计了自主足球机器人全维视觉传感器的镜面参数,确定全维视觉传感器的尺寸,建立了包括反光镜的反射模型和摄像头的针孔成像模型在内的一整套完备的数学模型,确定像点和物点间的对应关系,为全维成像提供了必要的数学模型和算法。用仿真实验和真实图像实验验证了系统的实用性。 This paper studies an omni-directional vision system and its imaging model. The omni-directional vision sensor uses a combination of lenses and mirrors placed in a carefully arranged configuration to capture a much wider field of view for the autonomous soccer robot. Mirror parameters of omni-directional vision sensor were designed under the single viewpoint constraint,and dimension of the omni-directional vision system was determined. A set of models including reflect and refraction model were built. The relation between image point and corresponding world point was determined,which offers the essential model and algorithm for omni-directional image process. Their practicability is tested through the simulation experiments.
作者 王宇 王勇 祖春山 徐心和
机构地区 东北大学信息科学与工程学院 华北电力大学自动化系
出处 《光电子．激光》 EI CAS CSCD 北大核心 2006年第10期1196-1200,共5页 Journal of Optoelectronics·Laser
基金 国家自然科学基金资助项目(60475036)
关键词 自主足球机器人 全维视觉 传感器 反光镜 建模 autonomous soccer robot omni-directional vision sensor mirror modeling
分类号 TP242.62 [自动化与计算机技术—检测技术与自动化装置]
  • 相关文献

参考文献8

  • 1Ishiguro H. Development of low-cost compact ODVS and their applications[A]. Int Conf Information Systems, Analysis and Synthesis[C] .1998,433-439.
  • 2Baker S, Nayar S. A theory of catadioptric image formation[A]. Internationa Conference on Computer Vision,1998,35-42.
  • 3张金利,王元庆,朱宏娜.大视角成像系统的快速精确校正[J].光电子．激光,2006,17(2):158-161. 被引量：10
  • 4曾吉勇,苏显渝.抛物面折反射全景成像系统[J].光电子．激光,2003,14(5):485-488. 被引量：15
  • 5Yagi Y, Kawato S,Tsuji S. Real-time omni-directional image sensor for vision-guided navigation[J]. IEEE Trans on Robotics and Automation, 1994, 10 ( 1 ) ;11-22.
  • 6Baker S, Nayar S K. A theory of single-viewpoint catadioptric image formation[J]. International J Computer Vision, 1999,35(2) : 175-196.
  • 7ZENGJi-yong SUXian-yu.Hyperboloidal catadioptric omnidirectional imaging system[J].光学学报,1999,35(2):175-175.
  • 8Rahul S, Michael D G, Shree K. N, Non-single viewpoint catadioptric cameras: geometry and analysis [R]. USA;Columbia University, 2001.

二级参考文献10

  • 1赵梅,张久俊,周脉鱼.利用CCD摄像头测量航空相机的焦面信息[J].光电子．激光,2005,16(2):188-191. 被引量：5
  • 2何晓峰,刘文耀,徐守东.大面阵CCD测棉纤维长度分布[J].光电子．激光,2005,16(7):821-824. 被引量：4
  • 3S Baker, S K Nayar. A theory of single-viewpoint catadioptric image formation [J]. International Journal of Computer Vision, 1999,35(2) : 175-196.
  • 4J S Chahl, M V Srinivasan. Reflection surfaces for panoramic imaging[J]. Applied Optics, 1997,36 (31) : 8276-8285.
  • 5S K Nayar, V N Peri. Folded catadioptric camerasl[A].Proc. of IEEE Conf. on Computer Vision and Pattern Recognition[C], Hilton Head Island. South Carolina, 1999.217-223.
  • 6S K Nayar,A Karmarkar. 360×360 mosaics[A]. Proc. of IEEE Conf. on Computer Vision and Pattern Recognition[C], Hilton Head Island, South Carolina, 2000. 482-488.
  • 7J H X Tan,B P R Weiss,E M Riseman. Image-based homing[A]. Proc. of Int. Conf. on Robotics & Automation[C],1991. 620-625.
  • 8S K Nayar. Catadioptric omnidirectional camera[A]. Proc. of IEEE Conf. on Computer Vision nad Pattern Recognition[C], Hilton Head Island, South Carolina, 1997. 482-488.
  • 9邱茂林,马颂德,李毅.计算机视觉中摄像机定标综述[J].自动化学报,2000,26(1):43-55. 被引量：435
  • 10张全法,何金田.提高广角成像系统几何畸变数字校正精度的方法[J].光学技术,2001,27(3):242-246. 被引量：23

共引文献23

同被引文献42

  • 1文光磊.大数据和人工智能在电力生产的应用探讨[J].信息周刊,2018,0(22):0145-0145. 被引量：2
  • 2陈凤东,洪炳镕,朱莹.基于HSI颜色空间的多机器人识别研究[J].哈尔滨工业大学学报,2004,36(7):928-930. 被引量：33
  • 3吴斌,薛婷,邾继贵,叶声华.任意位姿平面靶标实现立体视觉传感器标定[J].光电子．激光,2006,17(11):1293-1296. 被引量：12
  • 4吴宪祥,郭宝龙.Fira中基于较短轴的色标分块及朝向角辨识算法[J].光电子．激光,2006,17(11):1361-1365. 被引量：1
  • 5Muehlmann K, Maier D, Hesser J, et al.Calculating dense disparity maps from color stereo images,an efficient implementation[[J]. International Journal of Computer Vision,2002,47(1):79-88.
  • 6Okutorni M,Tornita G. Color stereo matching and its application to 3- D measurement of optic nerve head[A]. IEEE Intemational Conference on Pattern Recognition[C]. 1992,1:509-513.
  • 7Yoon K J, Kweon I S. Adaptive support-weight approach for correspondence searc[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence,2006,28(4):650-656.
  • 8Andreas Koschan, Volker Rodehorst, Kathrin Spiller. Color stereo vision using hierarchical block matching and active color illumination [A]. IEEE International Conference on Pattern Recognition[C]. 1996, 1:835-839.
  • 9Yang Q,Wang L,Yang R,et al. Stereo matching with color-weighted correlation, hierarchical belief propagation and occlusion handling[A]. IEEE Computer Societ Conference on Computer Vision and Pattern Recognition[C]. 2006,11: 2347-2354.
  • 10Klaus A,Sormann M,Kamer K. Segment-based stereo matching using belief propagation and a self-adapting dissimilarity rneasure[A].IEEE Intemational Conference on Pattern Recognition[C]. 2006, 111: 15- 18.

引证文献4

二级引证文献15

光电子．激光
2006年 第10期

相关作者

内容加载中请稍等...

相关机构

内容加载中请稍等...

相关主题

内容加载中请稍等...

浏览历史

内容加载中请稍等...
;
使用帮助 返回顶部