摘要
针对移动焊接机器人环境识别的特点,介绍了模板匹配及归一化交叉相关算法的基本原理,并将其应用于移动焊接机器人障碍物检测;利用双目视觉系统的立体计算原理,讨论了障碍物三维定位的计算方法;最后通过移动焊接机器人障碍物检测及定位实验,验证了该方法的有效性和精确度.
According to characteristics of environment recognization based on mobile welding robot,some basic principles of template matching method,normalized cross correlation(NCC) algorithm,and their application on obstacle detection for mobile welding robot were introduced in this paper.Then based on the binocular parallax theory,the method to calculate obstacle's 3D coordinates was discussed.Finally the(adaptability) and accuracy of the method was validated by mobile welding robot obstacle detection experiments.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2010年第S1期126-129,共4页
Journal of Shanghai Jiaotong University
基金
国家自然科学基金资助项目(60805018)
国家高技术研究发展计划(863)项目资助(2009AAA042221)
关键词
障碍物检测
模板匹配
机器人焊接
三维定位
obstacle detection
template matching
robotic welding
location of 3D object
