挖掘机器人双目视觉系统标定方法与立体匹配  

Calibration of Binocular Vision System and Stereo Matching for Excavator Robot

作　　者：王福斌[1,2] 刘杰[1] 陈至坤[2] 焦春旺[1] 

机构地区：[1]东北大学机械工程与自动化学院,辽宁沈阳110004 [2]河北联合大学电气工程学院,河北唐山063009

出　　处：《机械制造与自动化》2012年第3期156-158,162,共4页Machine Building & Automation

基　　金：国家自然科学基金资助项目(50775029);中央高校基本科研业务费专项资金资助项目(N090603008)

摘　　要：在挖掘机器人视觉系统实现中,摄像机标定、特征提取、立体匹配是关键环节,而立体匹配又是视觉系统中最复杂、最重要的步骤。首先分析了通用双目立体视觉模型及平行双目立体视觉模型,对挖掘机器人平行双目立体视觉系统测量方法及参数标定进行了研究。结合基于特征的匹配方法,通过对左、右图像角点的提取,实现了基于极线几何约束的特征点匹配。通过对铲斗图像匹配实验,验证了该方法能满足挖掘机器人视觉系统要求。The camera calibration, feature extraction and stereo matching are key links in the vision system of excavator robot, espe- cially the stereo matching which is the most complex and important step in the vision system. This paper analyzes the general and par- allel stereo binocular visual models and studies the measurement method of parallel binocular stereo vision system and parameters cali- bration of the excavator robot. Combined with the matching method based on characteristic and according to the extracted angular point of left and right images, it realizes the matching for feature points based on epipolar geometry constrain. Through the experiment of im- age matching for bucket, the method is verified that it meets the requirements of the vision system of excavator robot.

关 键 词：挖掘机器人 双目视觉 标定 立体匹配 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]