摘要
研究了一种用于移动机器人进行三维感知的被动双目立体视觉测量系统。首先建立了该系统的数学模型,然后针对其双通道图像同时采集和大数据量快速处理的需要,采用了基于多媒体DSP芯片DM642硬件系统构架,并应用了一种基于SUSAN角点特征的区域匹配算法。实验表明该系统测量速度快、精度高。
A passive binocular vision measuring system for 3D-perception of mobile robot is studied. At first, the mathematical model is built, then for its simultaneous acquisition of dual-channel image data and rapid processing with large quantity of data, a hardware system based on multimedia DSP chip of DM642 is used, and an algorithm based on regional matching of SUSAN corner features is introduced. Experiments show that the system has rapid measuring speed and high accuracy.
出处
《测控技术》
CSCD
2008年第9期15-17,21,共4页
Measurement & Control Technology
