基于视觉临场感的机器人遥操作全景环境构建  

VISUAL TELEPRESENCE-BASED ROBOT TELEOPERATION PANORAMIC ENVIRONMENT BUILDING

作　　者：胡社教[1] 陈宗海[1] 刘年庆[1] 

机构地区：[1]中国科学技术大学自动化系

出　　处：《模式识别与人工智能》2004年第1期124-128,共5页Pattern Recognition and Artificial Intelligence

摘　　要：针对基于视觉临场感机器人遥操作全景环境构建过程中存在的问题,分析比较了目前全景环境构建方法存在的不足,并提出了基于图像灰度特征矢量和最大匹配度的全景图像拼接方法。实验表明该方法能够很好地满足机器人遥操作过程中虚拟环境构建的要求,并具有很好的鲁棒性。According to the existent problem in visual telepresence-based robot teleoperation panoramic environment building and analyse the defect of methods in panoramic environment building, we have put forward a kind of panoramic image mosaic method that is based on the image gray feature vector and the biggest matches degree. Experiment result shows that this method can satisfy the requirement of virtual environmental buliding in robot teleoperation process and has good robustness.

关 键 词：机器人 遥操作 视觉临场感 全景图像 矢量匹配 虚拟现实 

分 类 号：TP242.62[自动化与计算机技术—检测技术与自动化装置]