基于单目视觉的室内机器人障碍检测方案  

Obstacle detection of indoor robots based on monocular vision

作　　者：何少佳[1] 刘子扬[1] 史剑清[1] 

机构地区：[1]桂林电子科技大学机电工程学院,广西桂林541004

出　　处：《计算机应用》2012年第9期2556-2559,共4页journal of Computer Applications

基　　金：广西科学研究与技术开发计划项目(10100022-8);广西制造系统与先进制造技术重点实验室项目(0842006_020_Z)

摘　　要：为提高室内移动机器人障碍物检测能力,提出了一套基于单目视觉的检测方案。该方案首先对拍摄的图像进行色度、饱和度、亮度(HSI)颜色空间转换;然后,针对室内图像中目标和背景的分割,提出了小目标阈值选取法,提高了特定环境下图像分割的准确性;最后,用目标场景匹配法和目标投影匹配法相结合,计算分割后目标像素的变化和投影的变化,从而判别出目标是具有高度的障碍物还是地面图形。实验结果表明该方案的有效性和可行性,可为室内小型移动机器人提供良好的导航信息。In this paper, a new monocular vision system was proposed to improve obstacle detection capability of indoor mobile robot. In this system, firstly, the Hue, Saturation, Intensity （HSI） color space conversion of images was performed. Secondly, a small target threshold selection method was proposed to segment the imases, which enhanced the precision of the image segmentation. Thirdly, the target scene matching method and target projection matching method were used to calculate the change of the target pixel and projection so as to judge whether the target is obstacles or ground graphs. The experimental results show that the monocular vision system is effective and feasible, and this system can be applied to the navigation for small indoor mobile robots.

关 键 词：单目视觉 障碍物检测 图像分割 透视投影 摄像机标定 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]