遥操作工程机器人的双目视觉定位方法研究

Research on Binocular Vision Positioning Method of Tele-Operated Construction Robot

针对遥操作工程机器人视频图像传输时延问题,建立了遥操作工程机器人的双目视觉定位系统,提出一种极线约束法与形态学向量夹角相结合的组合匹配方法对目标物进行立体匹配。该系统通过创建目标物模板,利用此模板识别经立体校正后的图像对上的目标物,并获取特征点,然后采用提出的组合匹配方法对特征点进行立体匹配,并对其三维重建,实现目标物的空间定位。实验表明,该方法匹配计算量小,定位效率高,定位精度满足工程作业要求,可为遥操作工程机器人的视觉提示系统设计提供技术参考。

A visual positioning system was established to solve the delay problem of video image transmission of tele-operated construction robot. A stereo matching method of combining epipolar constraint method with morphological vector angle method is put forward. The system creates a template by targeting objects, and uses this template to recognize the object on the image after the stereo correction and gets the feature points, then using the proposed combination matching method for stereo matching of feature points, the spatial location of object achieved by 3D reconstruction of feature points of object. The experimental results demonstrate that this method can reduce the amount of matching calculation and improve the positioning efficiency, and the positioning accuracy can meet the requirements of the project. This result can provide technical reference for the design of visual cue system of tele-operated construction robot.