摘要
针对一般情况下小型机器人所配置的摄像头分辨率较低的特点,提出了一种适用于低分辨率摄像头的逆透视(IPM)公式。建立了一组简化的二元方程组来实现逆透视变换,降低了算法复杂度,提高了在摄像头分辨率较低情况下逆透视变换的效率。实验结果表明,对于低分辨率的情况,该公式大幅度降低了资源的消耗,同时精确度高于现有公式。该公式,能更好的满足摄像头分辨率较低的智能设备。
Aiming at the small scale robot equipped with low-resolution camera,an inverse perspective mapping （IPM） formula applied to low-resolution camera is presented.A set of simplified binary equations is established to realize the IPM transformation.The algorithm complexity is reduced and the IPM transformation efficiency is improved in low-resolution camera case.An experiment is designed to validate the IPM result from different formula.Experimental results show that,in low-resolution case,this formula significantly reduces the consumption of resources,while accuracy is exacter than the existing formulas.This formula can satisfy the needs of smart devices with low-resolution.
出处
《计算机工程与设计》
CSCD
北大核心
2013年第10期3551-3555,共5页
Computer Engineering and Design
基金
国家自然科学基金项目(61070062
61175123)
福建高校产学合作科技重大基金项目(2010H6007)
关键词
逆透视变换
机器视觉
图像变换
智能机器人
低分辨率
inverse perspective transformation
machine vision
image transform
intelligent robots
low resolution
