Study on binocular stereovision-based obstacle avoiding of wall-climbing robot

YU Jin; RAO Ji; YAN Jun-tao

doi:10.13873/j.1000-97872007.07.015

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Study on binocular stereovision-based obstacle avoiding of wall-climbing robot

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- Study on binocular stereovision-based obstacle avoiding of wall-climbing robot
- Issue 7, Pages: 67-69+72(2007)
- 作者机构：
  
  1. 重庆大学机械工程学院
  2. 重庆大学机械工程学院,重庆,400044
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872007.07.015
  CLC： TP242
- Published：2007
- 稿件说明：
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[1]于今,饶冀,闫军涛.基于双目立体视觉的壁面清洗机器人障碍物检测研究[J].传感器与微系统,2007(07):67-69+72.

YU Jin, RAO Ji, YAN Jun-tao. Study on binocular stereovision-based obstacle avoiding of wall-climbing robot[J]. 2007, (7): 67-69+72.
[1]于今,饶冀,闫军涛.基于双目立体视觉的壁面清洗机器人障碍物检测研究[J].传感器与微系统,2007(07):67-69+72. DOI： 10.13873/j.1000-97872007.07.015.

YU Jin, RAO Ji, YAN Jun-tao. Study on binocular stereovision-based obstacle avoiding of wall-climbing robot[J]. 2007, (7): 67-69+72. DOI： 10.13873/j.1000-97872007.07.015.

摘要

针对壁面清洗机器人及其作业环境的特点

在简要介绍了诸类常用的实现避障的方法之后

提出了基于双目立体视觉的障碍物检测方法。为了提高障碍物检测的准确性和实时性

建立了平行双目视觉模型

并提出了一种基于区域与边缘特征相结合的对应点匹配算法。研究结果表明:该方法具有处理的数据量较小、实时性好、实现简单、避障较可靠的特点。

Abstract

Considering the characteristic of the wall-climbing robot and its work environment

after introducing several ideas for avoiding obstacle

a kind of real-time avoiding-obstacle method based on binocular stereovision is proposed

In order to improve veracity and speediness

a module of parallel binocular stereovision is built

and a homonymy point matching algorithm based on correlation of region and boundary is presented.The results indicate that this method has good characteristics of reducing data processed

improving celerity

easilier realization and more reliably avoiding obstacle.

关键词

Keywords

references

基于竞争机制的双目视觉匹配与实时测距 [J]. 熊超,田小芳,陆起涌. 计算机工程与应用 . 2006(01)

计算机视觉[M]. 科学出版社 , 马颂德,张正友著, 1998

机器人视觉技术[M]. 国防工业出版社 , 钟玉琢等编著, 1994

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