基于双目视觉的移动机器人空间测距研究  

Research on Spatial Size Measurement for Mobile Robots Based on Binocular Vision

作　　者：王富治[1] 秦付军[1] 蒋代君[1] 宋昌林[1] 

机构地区：[1]西华大学机械工程学院,四川成都610039

出　　处：《测控技术》2017年第5期46-50,共5页Measurement & Control Technology

基　　金：教育部春晖计划项目(12202528);四川省制造与自动化高校重点实验室开放基金课题(SZJJ2011-01);西华大学校重点科研基金项目(Z1120223)

摘　　要：空间测距是移动机器人实时避障和路径规划的基础。研究了移动机器人双目摄像头由一般布置形式变换到标准布置形式进而实现空间测距的方法。首先对摄像头进行标定(对双目摄像头进行立体标定);然后基于标定结果对摄像头一般布置下所获得立体图像进行极线校正,并得到校正后新的摄像机相互位置参数;最后基于已校正图像和新的位置参数实现移动机器人移动过程中深度与特定目标空间尺寸测量。实验结果证实了本文方法能获得比较精确的测量结果。Space distance measurement is the basis of real-time obstacle avoidance and path planning for mo- bile robot. The method of converting the general layout of mobile robot＇ s binocular camera into the standard layout and realizing the space distance measurement is studied. First, the camera is calibrated（ the stereo ca/i- bration for binocular camera）. Then, the epipolar rectification of stereo images obtained under the general lay- out of the camera based on the calibration results is carried out and the new position parameters between cam- eras after rectification are obtained. Finally, the depth and the specific object size are measured based on the rectified image. The experimental result demonstrates that the proposed method can obtain more accurate meas- urement results.

关 键 词：立体视觉 摄像机标定 视觉测量 极线校正 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]