立体视觉系统标定及成熟果实定位  

Stereovision Calibration and Mature Fruit Location on Nature Scene

作　　者：蔡健荣[1] 范军[1] 李玉良[1] 

机构地区：[1]江苏大学食品与生物工程学院,江苏镇江212013

出　　处：《农机化研究》2007年第11期38-40,43,共4页Journal of Agricultural Mechanization Research

基　　金：国家863项目(2006AA10Z263);江苏省高校自然科学基金项目(05KJB210019)

摘　　要：根据颜色特征利用阈值自动设定的方法对图像进行分割,自动、快速地识别成熟柑橘,采用圆形Hough变换算法拟合出目标图像的形心坐标。采用现场标定技术标定系统,减少设备组装拆卸带来的误差。同时,对传统双目立体成像测距公式进行了改进,以增强其适应性,提高定位精度。实验结果表明,该方法简单、有效、可靠。During the Mature citrus collection process by robot, the crucial element to ensure the citrus＇ position. Most traditional approaches of stereo camera calibration often require expensive calibration apparatuses and elaborate setups, which limits their practicability in many out-door applications. The paper proposes a more flexible method to overcome this drawback; we get the raw data from picture of calibration, and use Zhengyou Zhang＇s camera calibration technique to get the matrix of homograph. At last calculate the 3-D Coordinate. Experimental results show that the method is feasible.

关 键 词：自动控制技术 双目立体视觉 理论研究 定位 摄像机标定 Levenberg—Marquardt迭代 

分 类 号：TP242.62[自动化与计算机技术—检测技术与自动化装置]