| 基于双目视觉的移动机器人动态目标识别与定位 |
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| 引用本文： | 邱雪娜,刘斐,刘士荣,孙凯. 基于双目视觉的移动机器人动态目标识别与定位[J]. 华东理工大学学报(自然科学版), 2010, 36(1) |
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| 作者姓名： | 邱雪娜 刘斐 刘士荣 孙凯 |
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| 作者单位： | 1. 华东理工大学自动化研究所,上海,200237;杭州电子科技大学自动化研究所,杭州,310018;宁波工程学院电信学院,浙江,宁波,315016
2. 杭州电子科技大学自动化研究所,杭州,310018 |
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| 基金项目： | 国家自然科学基金，浙江省科技计划项目，杭州电子科技大学校科研和教改项目，浙江省宁波市自然科学基金 |
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| 摘 要： | 提出了一种双目移动机器人实时动态目标识别与定位方法。该算法首先采用SIFT(Scale Invariant Features Transforms)算法提取目标特征,并结合双目视差特征进行目标匹配;然后通过区域增长方法进行目标区域的提取;最后结合双目视觉标定的模型对目标进行定位。实验结果表明:该方法在摄像机运动-目标运动情况下,能对局部特征未知或特征不明显的动态目标进行有效的识别与定位。
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| 关 键 词： | 视差特征 SIFT算法 动态目标识别 目标定位 |
Dynamic Object Recognition and Localization of Mobile Robot Based on Binocular Vision |
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| QIU Xue-na,LIU Fei,LIU Shi-rong,SUN Kai. Dynamic Object Recognition and Localization of Mobile Robot Based on Binocular Vision[J]. Journal of East China University of Science and Technology, 2010, 36(1) |
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| Authors: | QIU Xue-na LIU Fei LIU Shi-rong SUN Kai |
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| Abstract: | A real-time dynamic object recognition and localization method is presented for mobile robot using binocular vision.Firstly, the SIFT operator is applied to object features extraction and object matching with the disparity features of binocular vision.Then, the object area is extracted through region growing method.Finally, according to the binocular vision calibration model, the object's location is obtained.Experiments show that in the case of both camera moving and object moving, the proposed method can effectively recognize and locate the dynamic object with unknown or obscure object local feature. |
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| Keywords: | disparity feature SIFT algorithm dynamic object recognition object localization |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
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