[1]罗翔,席文明,颜景平.一种双目主动立体视觉系统的目标定位算法[J].东南大学学报(自然科学版),2002,32(1):59-63.[doi:10.3969/j.issn.1001-0505.2002.01.014]
 Luo Xiang,Xi Wenming,Yan Jingping.Scheme of target 3D point positioning for binocular active stereo visual system[J].Journal of Southeast University (Natural Science Edition),2002,32(1):59-63.[doi:10.3969/j.issn.1001-0505.2002.01.014]
点击复制

一种双目主动立体视觉系统的目标定位算法()
分享到:

《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
32
期数:
2002年第1期
页码:
59-63
栏目:
自动化
出版日期:
2002-01-20

文章信息/Info

Title:
Scheme of target 3D point positioning for binocular active stereo visual system
作者:
罗翔 席文明 颜景平
东南大学机械工程系,南京 210096
Author(s):
Luo Xiang Xi Wenming Yan Jingping
Department of Mechanical Engineering, Southeast University, Nanjing 210096, China
关键词:
主动视觉 立体视觉 机器人视觉系统 特征匹配 三维定位
Keywords:
active vision stereo vision robot vision systems feature point matching 3D point positioning
分类号:
TP24
DOI:
10.3969/j.issn.1001-0505.2002.01.014
摘要:
首先引入主动视觉空间的概念,即用系统本身运动自由度来表达摄像机焦点到空间点的视线.其次,推导了把任意摄像机图像点变换到主动视觉空间的算法.最后,采用三角形测量原理对图像特征点进行匹配和定位.因为系统中的各个摄像机独立注视目标,摄像机可以采用较小的视野,这为提高定位精度提供了可能性.采用数值仿真手段对相关理论进行了验证.
Abstract:
Firstly, a terminology called active visual space, which represents feature points by the motion freedoms of an active visual system, is introduced. Secondly, we derive an algorithm, by which all the image points in the image space of a single active camera are translated into active visual coordinates. Finally, a rule for feature point matching and positioning is proposed on the analysis of stereo triangulation. Because the cameras in this system gaze object independently, just small scene is required. This feature provides the possibility to improve the positioning precision. Numerical simulation is presented to verify the scheme.

参考文献/References:

[1] Hutchinson S,Hager G D,Corke P I.A tutorial on visual servo control [J].IEEE Trans Robot Automat,1996,12(5):651-670.
[2] Papanikolopoulos N P,Khosla P K,Kanade T.Visual tracking of a moving target by a camera mounted on a robot:a combination of control and vision [J].IEEE Trans Robot Auto,1993,9(91):14-35.
[3] Ballard D.Animate vision [J]. Artificial Intelligence,1991(48):57-86.
[4] Huang T S,Netravali A N.Motion and structure from feature correspondence:a review [J].Proceedings of IEEE, 1994,82(2):252-267.
[5] Blostein S D,Huang T S.Error analysis in stereo determination of 3-d point position [J].IEEE Trans Pattern Anal and Machine Intell,1987,PAMI-9(6):752-765.
[6] Mitsuda T,Maru N,Fujikawa K,et al.Visual servoing based on the use of binocular visual space [J].IEEE Proceeding Intell Robot System,1996,2:1104-1111.

相似文献/References:

[1]李新德,张晓,朱博.基于立体视觉的一般物体识别方法[J].东南大学学报(自然科学版),2013,43(4):711.[doi:10.3969/j.issn.1001-0505.2013.04.008]
 Li Xinde,Zhang Xiao,Zhu Bo.Generic object recognition method based on stereo vision[J].Journal of Southeast University (Natural Science Edition),2013,43(1):711.[doi:10.3969/j.issn.1001-0505.2013.04.008]

备注/Memo

备注/Memo:
基金项目: 国家计委211工程资助项目(2102002001).
作者简介: 罗翔(1968—), 男, 博士生; 颜景平(联系人), 男, 教授, 博士生导师.
更新日期/Last Update: 2002-01-20