摘要
本文利用双目泛倾斜变焦摄像机(pan-tilt-zoom,PTZ)像机,实现移动双臂机械手系统的视觉伺服协调操作,重点研究室内复杂环境和光照变化情况下目标物体的检测、识别和定位问题.首先,提出了色调、饱和度、亮度颜色模型(hue-saturation-value,HSV)空间下图像分割的改进算法,通过阈值更新和外接矩形改善分割结果,提高检测算法对环境光照变化的适应性;然后,基于Hu不变矩,利用物体形状特征,对检测得到的物体加以识别:在此基础上,利用摄像机投影矩阵,计算目标物体的空间坐标,实现其定位测量:最后,在实验室平台上,通过模拟双臂倒水操作,验证提出的图像处理和分析算法以及视觉伺服协调操作方案的有效性.实验结果表明移动双臂机械手系统能够成功完成倒水动作的协调操作.
Two pan-tilt-zoom （PTZ） cameras are used in this study to realize visual servo for coordinated manipulation of a mobile dual-arm manipulator system. The focus of this study is mainly on the problems of target object detection, recognition and localization in the indoor environment of scattered background and varying illumination. First, a modi- fied algorithm is proposed to detect objects in the hue-saturation-value （HSV） color space based on updated segmentation thresholds and bounding rectangles, which improves the detection algorithm＇s adaptability to illumination variation. Sec- ond, the target is identified from the detected objects using the target contour features and the Hu＇s moment invariants. Then, the spatial coordinates of the target object are computed with the cameras＇ perspective matrices, and the target position is consequently determined. Finally, to verify effectiveness of the image processing and analysis algorithms presented and the visual servo technology, experiments are done on a mobile platform in our lab to mimic the manipulation of pouring water with two arms, and the results show that the mobile manipulator system can complete the task successfully.
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2015年第1期69-74,共6页
Control Theory & Applications
基金
国家自然科学基金项目(61375109
61273356)
机器人学国家重点实验室开放基金项目(2013-012)资助~~
关键词
移动双臂机械手系统
视觉伺服
协调操作
HSV空间
不变矩
mobile dual-arm manipulator system
visual servo
coordinated manipulation
HSV space
invariant moment
