摘要
针对研究用的平台——Pioneer3-AT的软硬件环境,结合基于双目立体视觉的环境识别过程、原理和实际的应用环境设计了一个双目立体视觉系统。根据经典图像传感器的特点、实际需求、要观测的视野大小、精度要求确定硬件参数,进而选择了两个CMOS摄像机,建立了几个可行的系统方案,并从中选定了一个符合本实验的方案。然后结合平台的结构和双目立体视觉系统实际的硬件技术要求,设计并制作了一个两层可水平放置两台摄像机的双目立体视觉实验或应用系统,最后加入了控制器——笔记本电脑构成了一个完整的环境识别系统。实验表明这个建立的试验系统比较实用。
Focusing on the hardware and software environment of research platform- Pioneer 3-AT,a binocular stereo vision system was designed combining with the environmental recognition process, the principles and practical application environment. The hardware parameters were determined according to the characteristics of the classic image sensor,the actual demands,the field size to be observed and the required accuracy. Two CMOS cameras were selected,several possible system solutions were established. Among these,a solution was selected based on the experiment requirement. Then a horizontally binocular stereo vision test platform which can put two cameras was designed. Finally the controller-laptop constitution was added,and a complete environment recognition system was formed. Experimental results showed that this test system was very applicable.
出处
《实验室研究与探索》
CAS
北大核心
2016年第2期102-106,共5页
Research and Exploration In Laboratory
基金
云南省校专项项目(111201)
留学基金委基金资助项目(2014(3033))
