基于ROS的机器视觉系统实现

Implementation of ROS-based Machine Vision System

机器视觉在工业机器人应用领域主要用于工业检测、探伤、精密测控、自动生产线、医学以及各种危险场合。基于开源机器人操作系统ROS,利用Kinect双目视觉传感器获得3D立体视觉数据,并结合OpenCV、OpenNI等开源机器视觉库,选用ROS提供的辅助机器视觉工具,设计了一套低成本的机器视觉系统的实现方案,并在样机上进行了实验测试。

Machine vision is used in industrial robot applications for industrial inspection, flaw detection, precision measurement and control, automatic production lines, medicine and various hazardous applications. Based on the open source robot operating system ROS, this paper uses Kinect binocular vision sensor to obtain 3D stereo vision data, and combines with OpenCV, OpenNI and other open source machine vision libraries to design a low-cost machine vision system using the auxiliary machine vision tools provided by ROS. The experimental test is carried on the prototype.