NAO的单目视觉空间目标定位方法研究  

Research on Space Target Orientation of NAO Based on Monocular Vision

作　　者：王中成[1] 赵学增[1] 

机构地区：[1]哈尔滨工业大学机电工程学院,黑龙江哈尔滨150001

出　　处：《机械与电子》2015年第9期63-67,共5页Machinery & Electronics

摘　　要：为了实现单摄像头工作的双足机器人NAO的视觉定位,采用单目视觉技术,建立一个空间点定位模型。根据摄像机的小孔透视模型,将图像中的二维坐标通过几何关系映射为机器人坐标系中的三维坐标,实现NAO基于单目视觉技术对空间目标定位。进行了定位实验,实验结果误差在允许范围之内,验证了该定位方法的实际可行性。In order to achieve visual orientation for biped robot NAO with single camera using mo-nocular vision technology,a space point orienta-tion model is established.The model based on the camera perspective model of holes,two dimen-sional coordinates of images are mapped to three dimensional coordinates in the same system as the robot is according to geometrical relationships,to realize the space target orientation for NAO based on monocular vision.Finally,an orientation exper-iment is conducted where errors of the results are within the allowed range,therefore validating the practical feasibility of the method.

关 键 词：队形保持 双足机器人NAO 单目视觉 空间目标定位 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]