机械手姿态识别的立体视觉匹配

Stereo vision matching for posture recognition of manipulator

为了提高机械手姿态识别的精度,提出了区域边缘线段立体匹配算法。该算法利用图像中包含边缘线段区域的颜色特性和边缘线段的几何特征进行线段匹配,其中,区域的颜色特征包括边缘线段的左右颜色和梯度方向,边缘线段的几何特征包括长度、方向和角度。由于充分利用了图像提供的颜色信息,特别是颜色梯度方向信息,使得边缘线段的匹配不仅依靠其自身的几何特征(如长度,方向和位置),而且依靠直线段所在图像区域的所有信息。因此,匹配的判据可以做得更准确。使用该算法进行机械手姿态识别实验,结果验证了该算法能够在复杂背景下识别机械手的姿态,识别精度高,其相对误差达到1.7%,该结果满足机械手在姿态识别中的精度要求。

A region-margin line segment stereo matching algorithm is proposed to improve the posture recognition precision of a manipulator. The color characteristics of the region and the geometric characteristics of margin line segment included in the image are used to realize an integrate matching,among which the former contains the color and margin line segment, and the latter contains lengths, directions and angles. By making full use of the information of color included in the image , especially the gradient direction information, this algorithm makes the line segment matching depend on the all information of the image area, not only on its geometric characteristics, such as lengths,directions and angles. Therefore, the criterion of the matching is more accurate than those of traditional algorithms. A posture recognition experiment for a manipulator is undertaken, obtained results validate that the algorithm could recognize the posture of manipulator in higher accuracy in a complicated background, and the relative error reaches 1.7%, which meets the requirements of the attitude recognition of manipulators for the precision.