双目立体视觉在果树采摘机器人中的应用

Application of Binocular Stereo Vision in the Fruit-harvesting Robot

果树采摘机器人是未来智能农业机械化的发展方向,具有广阔的应用前景。为此,针对果树采摘机器人作业环境的复杂性与定位目标的特殊性,从双目定位的几何模型出发,归纳了双目定位的基本过程,总结了立体视觉的摄像机标定问题,提出变焦距双目视觉定位果实的研究方向,并对双目图像的匹配问题进行了分析。

The application of fruit - harvesting robot will be a development trend of agricultural mechanization and has a great prospect. The working environment of the fruit -harvesting robot is complicated and its orientation aim is special. For these problems, in this paper, starting off with geometric model of localization of binocular stereo vision, its orientation procedures were induced and issues of camera calibration were summed up. In the end, the zooming binocular vision research was brought up, and binocular image matching problem was analyzed.