| 基于SIFT匹配算法的移动机器人单目视觉定位研究 |
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| 引用本文： | 刘立,万亚平,刘朝晖,黄欣阳.基于SIFT匹配算法的移动机器人单目视觉定位研究[J].系统仿真学报,2012,24(9):1823-1825,1830. |
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| 作者姓名： | 刘立 万亚平 刘朝晖 黄欣阳 |
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| 作者单位： | 1. 南华大学计算机科学与技术学院,衡阳421001 华中科技大学电信系,武汉430074
2. 南华大学计算机科学与技术学院,衡阳,421001 |
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| 基金项目： | 国家自然科学基金(60872076);高科技研究(863)(2006AA09Z203);湖南省科技计划(2010GK3012);湖南省青年骨干教师资助项目 |
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| 摘 要： | 以单目视觉为模型给出基于视觉的移动机器人目标定位系统算法,利用尺度不变特征变换匹配方法(SIFT)求得基本矩阵与本质矩阵,分解本质矩阵后进一步得到相机的运动参数,最后结合立体视觉方法以及运动恢复结构方法获得目标的深度信息,实现目标定位。给出了三维信息获取过程与计算机仿真结果。实验结果表明,算法能满足移动机器人对目标实现定位的精度要求。
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| 关 键 词： | 单目视觉 目标定位 基本矩阵 尺度不变特征变换 |
Object Localization for Mobile Robots Using Single-eye Based on SIFT |
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| LIU Li,WAN Ya-ping,LIU Zhao-hui,HUANG Xin-yang.Object Localization for Mobile Robots Using Single-eye Based on SIFT[J].Journal of System Simulation,2012,24(9):1823-1825,1830. |
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| Authors: | LIU Li WAN Ya-ping LIU Zhao-hui HUANG Xin-yang |
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| Institution: | 1(1.School of Computer Science and Technology,University of South China,Hengyang 421001,China; 2.Department of Telecommunication,Huazhong Science and Technology University,Wuhan 430074,China) |
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| Abstract: | A vision-based mobile robot localization method was proposed.The fundamental matrix and essential matrix was obtained by Scale Invariant Feature Transform(SIFT) matching algorithm.After the decomposition of essential matrix,the external motion parameters of single-eye camera were got.Finally,the structure was used from motion method to obtain three-dimensional information and carry out object localization.The three-dimensional information acquisition process and the computer simulation result were given.The results show that the method can meet the demand of robot localization manipulation precision. |
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| Keywords: | single-eye vision object localization fundamental matrix Scale Invariant Feature Transform |
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