To overcome the shortcomings of the traditional passive ranging technology based on image, such as poor ranging accuracy, low reliability and complex system, a new visual passive ranging method based on re-entrant coa...To overcome the shortcomings of the traditional passive ranging technology based on image, such as poor ranging accuracy, low reliability and complex system, a new visual passive ranging method based on re-entrant coaxial optical path is presented. The target image is obtained using double cameras with coaxial optical path. Since there is imaging optical path difference between the cameras, the images are different. In comparison of the image differences, the target range could be reversed. The principle of the ranging method and the ranging model are described. The relationship among parameters in the ranging process is analyzed quantitatively. Meanwhile,the system composition and technical realization scheme are also presented. Also, the principle of the method is verified by the equivalent experiment. The experimental results show that the design scheme is correct and feasible with good robustness. Generally, the ranging error is less than 10% with good convergence. The optical path is designed in a re-entrant mode to reduce the volume and weight of the system. Through the coaxial design,the visual passive range of the targets with any posture can be obtained in real time. The system can be widely used in electro-optical countermeasure and concealed photoelectric detection.展开更多
To realize automatic harvesting of the jujube,the jujube harvester was designed and manufactured.For achieving the jujube harvester autopilot,a novel algorithm for visual navigation path detection was proposed.The cen...To realize automatic harvesting of the jujube,the jujube harvester was designed and manufactured.For achieving the jujube harvester autopilot,a novel algorithm for visual navigation path detection was proposed.The centerline of tree row lines was taken as the navigation path.The method included four main parts:image preprocessing,image segmentation,tree row lines access,and navigation path access.The methods of threshold segmentation,noise removal,and border smoothing were utilized on the image in Lab color space for the image segmentation.The least square method was employed to fit the tree row lines,and the centerline was obtained as the navigation path.Experimental results indicated that the average false detection rate was 3.98%,and the average detection speed was 41 fps.The algorithm meets the requirements of the jujube harvester autopilot in terms of accuracy and speed.It also can lay the foundation for accomplishing the jujube harvester vision-based autopilot.展开更多
基金Supported by the National Basic Research Program of China under Grant No 2014CB340102
文摘To overcome the shortcomings of the traditional passive ranging technology based on image, such as poor ranging accuracy, low reliability and complex system, a new visual passive ranging method based on re-entrant coaxial optical path is presented. The target image is obtained using double cameras with coaxial optical path. Since there is imaging optical path difference between the cameras, the images are different. In comparison of the image differences, the target range could be reversed. The principle of the ranging method and the ranging model are described. The relationship among parameters in the ranging process is analyzed quantitatively. Meanwhile,the system composition and technical realization scheme are also presented. Also, the principle of the method is verified by the equivalent experiment. The experimental results show that the design scheme is correct and feasible with good robustness. Generally, the ranging error is less than 10% with good convergence. The optical path is designed in a re-entrant mode to reduce the volume and weight of the system. Through the coaxial design,the visual passive range of the targets with any posture can be obtained in real time. The system can be widely used in electro-optical countermeasure and concealed photoelectric detection.
基金supported by the National Key R&D Program of China(No.2016YFD0701504).
文摘To realize automatic harvesting of the jujube,the jujube harvester was designed and manufactured.For achieving the jujube harvester autopilot,a novel algorithm for visual navigation path detection was proposed.The centerline of tree row lines was taken as the navigation path.The method included four main parts:image preprocessing,image segmentation,tree row lines access,and navigation path access.The methods of threshold segmentation,noise removal,and border smoothing were utilized on the image in Lab color space for the image segmentation.The least square method was employed to fit the tree row lines,and the centerline was obtained as the navigation path.Experimental results indicated that the average false detection rate was 3.98%,and the average detection speed was 41 fps.The algorithm meets the requirements of the jujube harvester autopilot in terms of accuracy and speed.It also can lay the foundation for accomplishing the jujube harvester vision-based autopilot.
