Passive optical motion capture technology is an effective mean to conduct high-precision pose estimation of small scenes of mobile robots;nevertheless,in the case of complex background and stray light interference in ...Passive optical motion capture technology is an effective mean to conduct high-precision pose estimation of small scenes of mobile robots;nevertheless,in the case of complex background and stray light interference in the scene,due to the infuence of target adhesion and environmental reflection,this technology cannot estimate the pose accurately.A passive binocular optical motion capture technology under complex illumination based on binocular camera and fixed retroreflective marker balls has been proposed.By fixing multiple hemispherical retrorefective marker balls on a rigid base,it uses binocular camera for depth estimation to obtain the fixed position relationship between the feature points.After performing unsupervised state estimation without manual operation,it overcomes the infuence of refection spots in the background.Meanwhile,contour extraction and ellipse least square fitting are used to extract the marker balls with incomplete shape as the feature points,so as to solve the problem of target adhesion in the scene.A FANUC m10i-a robot moving with 6-DOF is used for verification using the above methods in a complex lighting environment of a welding laboratory.The result shows that the average of absolute position errors is 5.793mm,the average of absolute rotation errors is 1.997°the average of relative position errors is 0.972 mm,and the average of relative rotation errors is 0.002°.Therefore,this technology meets the requirements of high-precision measurement in a complex lighting environment when estimating the 6-DOF-motion mobile robot and has very significant application prospects in complex scenes.展开更多
High performance hardware architecture for depth measurement by using binocular-camera is proposed.In the system,at first,video streams of the target are captured by left and right charge-coupled device(CCD)cameras to...High performance hardware architecture for depth measurement by using binocular-camera is proposed.In the system,at first,video streams of the target are captured by left and right charge-coupled device(CCD)cameras to obtain an image including the target.Then,two different images with two different view points are obtained,and they are used in calculating the position deviation of the image's pixels based on triangular measurement.Finally,the three-dimensional coordinate of the object is reconstructed.All the video data is processed by using field-programmable gate array(FPGA)in real-time.Hardware implementation speeds up the performance and reduces the power,thus,this hardware architecture can be applied in the portable environment.展开更多
In order to quickly and efficiently get the information of the bottom of the shoe pattern and spraying trajectory, the paper proposes a method based on binocular stereo vision. After acquiring target image, edge detec...In order to quickly and efficiently get the information of the bottom of the shoe pattern and spraying trajectory, the paper proposes a method based on binocular stereo vision. After acquiring target image, edge detection based on the canny algorithm, the paper begins stereo matching based on area and characteristics of algorithm. To eliminate false matching points, the paper uses the principle of polar geometry in computer vision. For the purpose of gaining the 3D point cloud of spraying curve, the paper adopts the principle of binocular stereo vision 3D measurement, and then carries on cubic spline curve fitting. By HALCON image processing software programming, it proves the feasibility and effectiveness of the method展开更多
基金the National Key Research and Development Program of China(No.2018YFB1305005)。
文摘Passive optical motion capture technology is an effective mean to conduct high-precision pose estimation of small scenes of mobile robots;nevertheless,in the case of complex background and stray light interference in the scene,due to the infuence of target adhesion and environmental reflection,this technology cannot estimate the pose accurately.A passive binocular optical motion capture technology under complex illumination based on binocular camera and fixed retroreflective marker balls has been proposed.By fixing multiple hemispherical retrorefective marker balls on a rigid base,it uses binocular camera for depth estimation to obtain the fixed position relationship between the feature points.After performing unsupervised state estimation without manual operation,it overcomes the infuence of refection spots in the background.Meanwhile,contour extraction and ellipse least square fitting are used to extract the marker balls with incomplete shape as the feature points,so as to solve the problem of target adhesion in the scene.A FANUC m10i-a robot moving with 6-DOF is used for verification using the above methods in a complex lighting environment of a welding laboratory.The result shows that the average of absolute position errors is 5.793mm,the average of absolute rotation errors is 1.997°the average of relative position errors is 0.972 mm,and the average of relative rotation errors is 0.002°.Therefore,this technology meets the requirements of high-precision measurement in a complex lighting environment when estimating the 6-DOF-motion mobile robot and has very significant application prospects in complex scenes.
文摘High performance hardware architecture for depth measurement by using binocular-camera is proposed.In the system,at first,video streams of the target are captured by left and right charge-coupled device(CCD)cameras to obtain an image including the target.Then,two different images with two different view points are obtained,and they are used in calculating the position deviation of the image's pixels based on triangular measurement.Finally,the three-dimensional coordinate of the object is reconstructed.All the video data is processed by using field-programmable gate array(FPGA)in real-time.Hardware implementation speeds up the performance and reduces the power,thus,this hardware architecture can be applied in the portable environment.
文摘In order to quickly and efficiently get the information of the bottom of the shoe pattern and spraying trajectory, the paper proposes a method based on binocular stereo vision. After acquiring target image, edge detection based on the canny algorithm, the paper begins stereo matching based on area and characteristics of algorithm. To eliminate false matching points, the paper uses the principle of polar geometry in computer vision. For the purpose of gaining the 3D point cloud of spraying curve, the paper adopts the principle of binocular stereo vision 3D measurement, and then carries on cubic spline curve fitting. By HALCON image processing software programming, it proves the feasibility and effectiveness of the method
