机器人抓取中的图像特征点提取算法及DSP实现  

Interest Point Extraction Algorithm for Robotic Grasp and Implementation on DSP

作　　者：胡攀[1] 吴裕斌[1] 曹丹华[1] 

机构地区：[1]华中科技大学光学与电子信息学院,湖北武汉430074

出　　处：《仪表技术与传感器》2015年第11期85-88,共4页Instrument Technique and Sensor

摘　　要：在视觉引导的机器人抓取技术中,需要快速提取不同视角图像的特征点集,实现基于特征的姿态估计。传统的特征点提取算法十分耗时,并难以在基于DSP的嵌入式图像处理平台上实现。针对工业应用场景,提出了一种基于简化SURF和不变矩的特征点提取算法,引入了一个4维的局部不变矩作为特征描述子。算法针对DSP平台进行了优化,测试达到了7帧/s的运行速度,并满足一定程度的光照和仿射不变性。Quick extraction of the image feature point set in different perspectives was needed in robust grasp technology to re -alize pose estimation based on characteristics .Traditional image interest point extraction methods are time-consuming,and it is hard to perform in real-time and duplicate to implement on DSP embedded platform .Aiming at industrial applications , a new interest point extraction method based on SURF and moment invariants was proposed .The local moment invariants were introduced to resist illumination change and affine transform ,which constructs only a 4-dimensional descriptor .And the DSP-specified optimization was conducted systematically .Experiments show that the algorithm can process nearly 7 images per second on the DSP platform ,with the stability under changing illumination and affine transformation .

关 键 词：特征点提取 机器人抓取 嵌入式平台 局部不变矩 光照不变性 仿射不变性 

分 类 号：TP29[自动化与计算机技术—检测技术与自动化装置]