摘要
为实现果实收获机器人避障,研究了树枝空间信息提取方法和果树树枝三维重建方法:采用归一化互相关法获取立体图像视差图,在图像中提取树枝骨架并采用多线段逼近法提取特征点;结合视差图,利用双目立体视觉原理计算树枝骨架特征点的空间坐标,再利用距离图像求取树枝半径信息;将分枝点断开形成简单线图形,简化了树枝三维信息。在空间坐标原点采用12棱柱构建各段树枝模块,通过仿射变换将三维模块以正确的位姿与其他模块组合成果树模型。试验表明,生成的虚拟果树为水果采摘机器人避障及路径规划提供了环境参照。
In order to avoid obstacles for fruit harvesting robot, the method of spatial information extraction of tree branch was studied. The method of normalized cross-correlation was used to get the disparity map of stereo image, branch skeleton was extracted and feature points were extracted by multi-segment approximation method. The spatial coordinates of branch feature points were calculated by combining with the disparity map based on binocular stereo vision, the radius of branch feature points were calculated by using the branch range image, in the end, the forked branch was divided into separate section. Rapid model reconstruction for fruit tree was researched： firstly, each branch module was constructed by 12-prism in the coordinate origin; then, every module was set to the correct posture by affine transformation; finally, the complete fruit tree model was restructured. Experiments show that the virtual trees provide the actual environment reference for obstacle avoidance and path planning of fruit picking machine.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2012年第3期152-156,共5页
Transactions of the Chinese Society for Agricultural Machinery
基金
国家自然科学基金资助项目(30771243)
国家高技术研究发展计划(863计划)资助项目(2006AA10Z263)
关键词
果树
双目视觉
三维信息获取
模型重构
Fruit trees, Binocular vision, 3-D information perception, Model reconstruction
