摘要
研究和开发一个双目视觉系统用于智能排爆机器人的自动控制。该系统利用计算机双目视觉原理,采用Matlab 7作为运算引擎,调用机器视觉软件eVision 6.2进行立体匹配,实时捕获图像,进行摄像机标定、图像预处理和匹配,确定可疑目标物的坐标,把图像实时显示在控制台,并通过xPC目标系统实现该机器人实时控制系统,自动控制手臂靠近并准确抓取可疑目标物。排爆机器人的抓取实验表明,该双目立体视觉系统在精度上能满足排爆要求。
According to the theory of stereo vision, a new intelligent explosive-handling robot with a binocular vision system is de- veloped. The vision system captures real-time images, makes camera calibrations with Zhang＇ s method, preprocesses images, matches feature point, then gets the stereo coordinate of the feature point of the suspicious objects, programming with Matlab 7.0 and the machine vision software eVision, displays the real-time images on the console, and a robot real-time control system is built through xPC target system, finally, controls explosive-handling robot to grasp the suspicious object automatically and accu- rately. Experimental results under variable distances indicate that the validity in real-time performance and precision of the vision system.
出处
《计算机与现代化》
2013年第8期192-196,共5页
Computer and Modernization
基金
国家自然科学基金资助项目(51175187)
广东省教育厅资助项目(20120202024)
广东科学技术职业学院计算机学院2011年可提升项目
关键词
排爆机器人
双目立体视觉
摄像机标定
特征匹配
explosive ordnance disposal robot
binocular stereo vision
camera calibration
feature matching
