仿人多自由度立体双目视觉导航系统的研究与开发  

Research and Development of Multi-Freedom Stereovision Navigating System with Biological Vision Mechanisms

作　　者：余洪山[1] 王耀南[1] 

机构地区：[1]湖南大学电气与信息工程学院,湖南长沙410082

出　　处：《湖南大学学报（自然科学版）》2004年第5期62-65,93,共5页Journal of Hunan University:Natural Sciences

基　　金：国家自然科学基金资助项目(60375001);教育部博士点基金资助项目

摘　　要：基于人类视觉系统原理,设计了仿人多自由度的立体双目视觉导航系统.首先给出了立体双目视觉导航系统的设计原理,然后详细讨论了仿人多自由度立体双目视觉装置的设计.该装置可同时实现水平旋转、俯仰、左右摄像机聚散度调整4个自由度伺服控制,并可实时在线调整摄像机参数.针对自由度控制电机及其驱动控制、摄像机同步控制、摄像机参数控制、基线长度选择等进行了优化设计.系统在Pioneer-2DXE移动机器人的实际应用验证了本设计方案的可行性和有效性.Sharing mechanisms with biological vision systems,a real-time active stereovision system built from component parts was developed for mobile robot autonomous navigation. The active stereovision system allows accomplishing visual tasks independently, like panning, tilting, vergence and camera parameter adjustment. Important parameters for the stereovision system, such as the selection of motor resolution and the size of baseline, have been given enough consideration. The strategies adopted for the design of the system, including the mechanical design of the platform, closed loop serve controller for motor panning, tilting and vergence, camera parameters adjustment controller, and system integration, have proved to be very effective with application on pioneer 2-DXE mobile robot.

关 键 词：立体视觉平台 视觉导航 运动控制器 基线 移动机器人 

分 类 号：TP202[自动化与计算机技术—检测技术与自动化装置]