摘要
在许多应用领域中 ,要求对光学系统的非线性畸变进行有效实用的校正。如在足球机器人 (MiroSot一种基于视觉信息的精密控制系统 )的视觉系统中 ,对校正速度要求很高 ,这就限制了许多复杂算法的应用 ;多项式变形技术是这一领域的主要方法 ,但对高次模型在计算机求解时 ,由于数值计算的误差 ,如不做特殊处理其解的精确性较差。本文针对足球机器人视觉系统中普遍存在的斜视 ,旋转 ,及非线性畸变 ,建立了合理的多项式近似模型 ,应用数字图像处理技术 ,使用VisualC ++6.0编程 ,对实际的非线性几何畸变图像进行校正。取得了满意的实验结果 ,具有较好的实用价值。
In many practical applications, optical nonlinear distortion is a big problem that we must survey practical method to correct. In the vision system of robotic soccer(Mirosot), high correction speed and precision are needed, so many complex algorithm is not suitable in this field . Polynomial deformation is the major method for Mirosot. But as the power of the model is high, numeral error becomes a big problem. In this paper, a reasonable polynomial model is established to correct side-glance, rotary and nonlinear distortion in the vision system of robot soccer. The method performs an excellent work and has practical values.
出处
《机器人技术与应用》
2002年第4期37-40,共4页
Robot Technique and Application
