基于单目视觉的移动机器人测距方法  

Mobile robot distance-measuring method based on monocular vision

作　　者：张一鸣[1] 秦世引[1] 

机构地区：[1]北京航空航天大学自动化科学与电气工程学院,100083

出　　处：《微计算机信息》2008年第29期224-225,205,共3页Control & Automation

基　　金：国家高技术研究发展(863)计划项目(2006AA04Z207)(轮腿式多足机器人群体系统技术研究与应用);教育部博士点基金资助项目(20060006018)(基于视觉信息的多机器人编队避障过程协同优化控制)

摘　　要：本文针对多机器人编队过程中的跟踪控制,提出了一种跟踪机器人采用单目视觉技术获取前方被跟踪机器人距离信息的方法。该方法首先对跟踪机器人摄像机进行内参数标定,并在目标机器人背部设置视觉标记。然后系统获取目标机器人的含有视觉标记的单帧图像,预处理此图像,并识别出图像中的视觉标记所在的目标区域,用Hu氏不变矩计算该区域形心。最后推导出单目测距算法,利用图像信息和其它参数可以计算出两机器人之间的距离。实验结果表明,所设计的单目测距系统能得到准确的距离,为跟踪控制提供了重要的反馈信息。Based on the tracking control during multi-robot formation, this paper proposes a method to measure the distance between two robots, using monocular vision technology. Firstly, the robot camera intrinsic parameters are calibrated and a visual mark is fixed on the back of the target robot. Then, the system obtains a single frame image of the target robot including the visual mark, preprocesses it , recognizes the object region of the visual mark and computes the centroid coordinates of the region through the Hu＇s moment invariants. Finally, this paper derives the distance-measuring method based on monocular vision, which can obtain the distance between the two robots according to the centroid coordinates and the other parameters. Experiment results indicate that the designed system can achieve accurate distance of the target, providing important feedback information for the tracking control.

关 键 词：单目视觉 测距 跟踪 移动机器人 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]