基于异构双目视觉的全自主足球机器人导航  

Navigation of small-size autonomous soccer robot based on iso-vision system with two cameras

作　　者：高庆吉[1] 洪炳熔[1] 阮玉峰[1] 

机构地区：[1]哈尔滨工业大学计算机科学与技术学院,黑龙江哈尔滨150001

出　　处：《哈尔滨工业大学学报》2003年第9期1029-1032,1088,共5页Journal of Harbin Institute of Technology

基　　金：国家高技术研究发展计划资助项目(863-2001AA422270).

摘　　要：通过理论分析和实验,论述了全自主足球机器人异构双目视觉协调导航的合理性和有效性,给出了测量目标相对坐标的模型,分析了基于双目协调的足球机器人导航数据融合方法,提出了双目协调导航模型及基于行为的目标实现策略.在所开发的小型全自主足球机器人上的仿真和实验结果,证明了双目协调的有效性和实用性.The rationality and effectiveness of coordinated navigation of iso-vision system with two cameras for autonomous soccer robot were discussed through theoretical analysis and experiments. Models to get the local coordinates were given. The approach of data fusion and coordination of iso-vision with two cameras to implement navigation of soccer robot were analyzed. The validation and practicability of navigation based on coordination of iso-vision with two cameras were proved through experiments on the small-size autonomous soccer robot.

关 键 词：异构双目视觉 足球机器人 协调导航 数据融合 控制模型 

分 类 号：TP242.62[自动化与计算机技术—检测技术与自动化装置]