| 基于CAD模型的立体视觉目标运动估计 |
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| 引用本文： | 罗翔,倪受东,颜景平. 基于CAD模型的立体视觉目标运动估计[J]. 东南大学学报(自然科学版), 2002, 32(3): 397-401 |
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| 作者姓名： | 罗翔 倪受东 颜景平 |
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| 作者单位： | 1. 东南大学机械工程系,南京,210096
2. 南京工业大学机械工程学院,南京,210037 |
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| 基金项目： | 211工程资助项目 ( 2 10 2 0 0 2 0 0 1) |
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| 摘 要： | 提出了一种基于CAD模型的目标运动估计和目标轨迹实时生成方法，分为两步：首先采用立体视觉系统由图像特征点求出目标特征点的每个采样周期的空间位置；然后由其匹配模型的特征点集，通过扩展卡尔曼滤波方法估计目标运动参数，有了上述参数，就可以设计与伺服系统事宽匹配、消除图像处理延时影响的目标轨迹生成器，文中对目标的运动估计算法进行了仿真研究，结果表明该算法是可行的，文章创新之处在于推导了双目立体视觉系统的运动估计算法。
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| 关 键 词： | CAD模型 立体视觉 目标运动估计 机器人视觉 运动参数估计 扩展卡尔曼滤波 图像处理 目标跟踪 |
| 文章编号： | 1001-0505(2002)03-0397-05 |
Kinetic parameters estimation of objects based on the CAD models by a stereo vision system |
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| Luo Xiang Ni Shoudong Yan Jingping. Kinetic parameters estimation of objects based on the CAD models by a stereo vision system[J]. Journal of Southeast University(Natural Science Edition), 2002, 32(3): 397-401 |
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| Authors: | Luo Xiang Ni Shoudong Yan Jingping |
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| Affiliation: | Luo Xiang 1 Ni Shoudong 2 Yan Jingping 1 |
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| Abstract: | A scheme of kinetic parameters estimation and real-time track occurrence of objects based on the CAD models is investigated. The scheme has two steps. Firstly, the 3D positions of feature points of objects are obtained in every sample interval by a two-camera stereo vision system. Secondly, an extended Kalman filter is employed to estimate the kinetic parameters. With these parameters, a real-time track occurring rule is presented to match the bandwidth of the robot servo system and eliminate the influence of the delay involved in vision system. A simulation of kinetic parameters estimation of an object demonstrates the feasibility. The algorithm of kinetic parameters estimation by stereo vision systems is original. |
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| Keywords: | robot vision kinetic parameters estimation extended Kalman filters |
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