摘要
针对足球机器人等对球形目标定位的高精度要求,提出了一种用于球形目标的区域重建及定位方法。通过对目标成像特征的分析,并根据目标成像后的不变特征量确定了基于圆拟合的目标重建方法:利用凸壳特性选择候选拟合点集,用最小二乘圆拟合实现目标区域的重建,保证了重建后的目标区域接近于实际目标区域。试验表明,文章方法对球形目标区域的重建效果较好,满足高精度要求,并且能够同时解决球形目标的遮挡问题。
To improve the sphere object localization precision for soccer robot, this paper presented the sphere object area reconstruction and localization method. Firstly, analyzed the imaging characteristic of sphere object, by the object imaging invariant, presented the area reconstruction method based on circle fitting. Secondly, selected the candidate point set by area convex feature, achieved the reconstruction area by least square circle fitting, and made the reconstruction area close to the really area. The Experiments show the validity of the presented method, and can solve the covered problem of sphere object.
出处
《煤炭技术》
CAS
北大核心
2011年第10期215-217,共3页
Coal Technology
关键词
足球机器人
区域重建
目标定位
soccer robot
area reconstruction
object localization
