排爆机器人双目立体视觉系统设计

The Design and Implementation of Binocular Stereo Vision of a Bomb-disposal Robot

双目立体视觉是计算机视觉的一个重要分支,双目立体视觉直接模拟人类双眼处理景物的方式,可靠简便,在许多领域均极具应用价值,例如在机器人视觉系统中的应用。本文基于排爆机器人的应用,详细描述了排爆机器人双目立体视觉系统的设计与实现,由双目立体视觉系统根据目标物的二维图像计算出目标物的三维坐标。实验表明该系统能提高排爆机器人智能性与易操作性,大大提高了机械人的定位精度。

Binocular stereo vision is one of the important branches in the computer vision research area. It is designed according to the mechanism of humans eyes, which made it useful in many application areas, such as the vision system of a robot. This paper proposes the design of the binocular stereo vision system of a bomb-disposal, where the 3D coordinate of a target is acquired through the left and right image. The experiment result shows that the system can improve the stability of a manipulator greatly.