基于单目视觉的机器人目标定位测距方法研究

Target Location and Ranging Based on Monocular Vision Robot

为实现具有单目视觉的双足机器人对目标物体的定位测距,根据针孔成像和几何坐标变换原理,提出一种基于单目视觉系统自身固定参数计算目标物体深度信息的几何测距方法;该方法利用双足机器人自带的单目视觉系统的固定参数,通过几何映射关系求解目标物体在三维空间内的坐标位置及相对于机器人的距离,克服了由于外界环境变化以及对参照物识别时所产生的误差影响测距定位精度的问题,从而实现基于单目视觉的目标物体精确跟踪定位;并对所提出方法进行了实验,得到比理论结果误差较小的实验数据,证明了方法的可行性。

In order to realize with monocular vision range of the biped robot on the target objects ranging, according to pinhole imaging and geometric coordinate transformation principle, one kind based on monocular vision system of the fixed parameter calculation object depth information of the geometric distance measuring method is proposed. The method utilizing the fixed parameters of the biped robot with monocular vision system, through the geometric mapping relation for the target object in a three--dimensional space of coordinate position and relative robot distance, overcomes the changes in the external environment as well as the reference object recognition errors produced by the effect of location precision, so as to realize the precise tracking position based on monocular visual object. The simulation experiment and physics experiment for the proposed method are carried out, and the experimental results prove the feasibility of the method.