新型立体视觉平台跟踪系统的研制  

The research of the novel stereo vision platform tracking system

作　　者：赵杰[1] 杨永敏[1] 林华堂[1] 孙波[1] 李戈[1] 

机构地区：[1]哈尔滨工业大学机器人研究所,哈尔滨150001

出　　处：《制造业自动化》2006年第9期1-4,9,共5页Manufacturing Automation

摘　　要：研制了一种新型立体视觉平台跟踪系统。硬件平台设计采用了霍尔姆茨结构,这种平行的机械结构解决了电机互为负载的问题。根据视觉跟踪特性采用了基于位置控制的闭环控制结构。在跟踪算法方面,为提高系统实时性和抗干扰能力,提出了一种新的SV颜色空间,同时对投影搜索算法进行了改进。实验结果表明,该跟踪系统具有很好的实时性。Developing a novel stereo-vision platform tracking system. The design of the hardware platform adopts the Helmholtz configuration, this parallel mechanical architecture solves the problem that motors is the load for each other. Based on the characteristic of vision tracking, it adopts the control architecture of closed loop based on position control. On the aspect of tracking arithmetic, we bring forward a new HSV color model and improve the arithmetic of projection search to enhance the real-time character and anti-jamming ability of the system. The result of the experimentation indicates that the real-time character of the system is very good.

关 键 词：立体视觉平台 跟踪 图像 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]