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图像梯度下眼控机械臂的眼动追踪算法 被引量:2
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作者 王泽云 陈耀忠 +2 位作者 柳仁地 盛党红 张闰楚 《机械设计与制造工程》 2020年第9期23-27,共5页
针对能够通过人眼球运动控制其运动的眼控机械臂,提出了一种基于图像梯度的眼动追踪算法。首先通过60 Hz摄像头捕捉连续帧图像并采用n帧一次比较的方式代替逐帧比较方式。然后对捕捉到的图像进行灰度化处理以消除噪声点。接着利用Haar... 针对能够通过人眼球运动控制其运动的眼控机械臂,提出了一种基于图像梯度的眼动追踪算法。首先通过60 Hz摄像头捕捉连续帧图像并采用n帧一次比较的方式代替逐帧比较方式。然后对捕捉到的图像进行灰度化处理以消除噪声点。接着利用Haar特征和Adaboost分类器将人脸区域提取出来。再根据三庭五眼的原则进行眼球区域粗略萃取,并进行部分区域单独放大灰度化处理。最后利用图像梯度,对目标函数设定阈值进行二值化,完成精确的眼球中心定位。实验表明,该方法的准确度和定位速度完全适用于眼控机械臂。 展开更多
关键词 图像处理 ADABOOST分类器 HAAR特征 图像灰度化 图像梯度
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Monte Carlo Method for the Uncertainty Evaluation of Spatial Straightness Error Based on New Generation Geometrical Product Specification 被引量:10
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作者 WEN Xiulan XU Youxiong +2 位作者 LI Hongsheng WANG Fenglin sheng danghong 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2012年第5期875-881,共7页
Straightness error is an important parameter in measuring high-precision shafts. New generation geometrical product speeifieation(GPS) requires the measurement uncertainty characterizing the reliability of the resul... Straightness error is an important parameter in measuring high-precision shafts. New generation geometrical product speeifieation(GPS) requires the measurement uncertainty characterizing the reliability of the results should be given together when the measurement result is given. Nowadays most researches on straightness focus on error calculation and only several research projects evaluate the measurement uncertainty based on "The Guide to the Expression of Uncertainty in Measurement(GUM)". In order to compute spatial straightness error(SSE) accurately and rapidly and overcome the limitations of GUM, a quasi particle swarm optimization(QPSO) is proposed to solve the minimum zone SSE and Monte Carlo Method(MCM) is developed to estimate the measurement uncertainty. The mathematical model of minimum zone SSE is formulated. In QPSO quasi-random sequences are applied to the generation of the initial position and velocity of particles and their velocities are modified by the constriction factor approach. The flow of measurement uncertainty evaluation based on MCM is proposed, where the heart is repeatedly sampling from the probability density function(PDF) for every input quantity and evaluating the model in each case. The minimum zone SSE of a shaft measured on a Coordinate Measuring Machine(CMM) is calculated by QPSO and the measurement uncertainty is evaluated by MCM on the basis of analyzing the uncertainty contributors. The results show that the uncertainty directly influences the product judgment result. Therefore it is scientific and reasonable to consider the influence of the uncertainty in judging whether the parts are accepted or rejected, especially for those located in the uncertainty zone. The proposed method is especially suitable when the PDF of the measurand cannot adequately be approximated by a Gaussian distribution or a scaled and shifted t-distribution and the measurement model is non-linear. 展开更多
关键词 uncertainty evaluation Monte Carlo method spatial straightness error quasi particle swarm optimization minimum zone solution geometrical product specification
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