摘要
提出并实现了一种用于移动机器人实时自主导航系统的结构光视觉传感器。详细介绍了该视觉传感器的工作原理、数学模型、标定方法以及视觉图像的处理方法。这种主动式方法避开了立体匹配过程,实现了障碍物位置信息的快速探测。利用传感器几何约束,有效地剔除了的视觉图像中干扰的信息。该视觉传感器已成功应用于室内移动机器人避障与导航,说明该视觉方法是有效、可靠的。
A structured light vision sensor designed for real-time mobile robot autonomous navigation is developed and implemented.Operating principle,mathematic model,calibration and image processing techniques are introduced in detail.Stereo matching is unnecessary in this active type of sensor,which results in fast obstacle detection.Disturbance in vision image is erased successfully under geometrical constraints.The structured light sensor has been successfully employed in indoor mobile robot obstacle avoidance and navigation,which demonstrates the effectiveness and reliability of the presented vision technique.
出处
《红外与激光工程》
EI
CSCD
北大核心
2006年第z4期383-388,共6页
Infrared and Laser Engineering
关键词
移动机器人
结构光
标定
干扰
重建
Mobile robot
Structured light
Calibration
Disturbance
Reconstruction
