扰动状态下柑橘的视觉空间定位

Visual spatial orientation of oscillating orange

研究了扰动状态下的柑橘空间定位方法.首先,采用欠阻尼振荡模型表示柑橘振荡过程;其次,通过FFT频谱分析法确定扰动柑橘的振荡周期,利用傅里叶曲线拟合法确定平衡点的形心坐标;再次,根据左、右柑橘图像的形心坐标确定平衡点三维空间坐标;最后,根据振荡周期和平衡点三维空间坐标信息,确定各阶段消耗时间及移动速度.试验结果表明,该算法能较好地满足扰动状态下的柑橘空间定位要求.

The spatial orientation method of oscillating orange was investigated. The under-damped oscillation model was used to denote orange oscillation process. FFT spectrum analysis method was used to determine the oscillation period of oscillating orange,and Fourier curve fitting method was used to determine the centroid coordinates of equilibrium point. The three-dimensional coordinates of equilibrium point were determined based on the centroid coordinates of left orange image and corresponding right orange image. According to oscillation period and three-dimensional spatial coordinates of equilibrium point,the spending time of each phase and the movement velocity were determined. The experimental results show that the algorithm can well satisfy the requirements of spatial orientation of oscillating orange.