[1]王中成,赵学增.NAO的单目视觉空间目标定位方法研究[J].机械与电子,2015,(09):63-66.
　WANG Zhongcheng,ZHAO Xuezeng.Research on Space Target Orientation of NAO Based on Monocular Vision[J].Machinery & Electronics,2015,(09):63-66.
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NAO的单目视觉空间目标定位方法研究
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2015年09期
页码:
63-66
栏目:
智能工程
出版日期:
2015-09-25

文章信息/Info

Title:
Research on Space Target Orientation of NAO Based on Monocular Vision
文章编号:
1001-2257(2015)09-0063-04
作者:
王中成; 赵学增
(哈尔滨工业大学机电工程学院,黑龙江 哈尔滨 150001)
Author(s):
WANG Zhongcheng; ZHAO Xuezeng
(School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China)
关键词:
队形保持;  双足机器人NAO;  单目视觉;  空间目标定位
Keywords:
keeping formation;  bipedal robot NAO;  monocular vision;  space target location
分类号:
TP391.41
文献标志码:
A
摘要:
为了实现单摄像头工作的双足机器人NAO的视觉定位,采用单目视觉技术,建立一个空间点定位模型。根据摄像机的小孔透视模型,将图像中的二维坐标通过几何关系映射为机器人坐标系中的三维坐标,实现NAO基于单目视觉技术对空间目标定位。进行了定位实验,实验结果误差在允许范围之内,验证了该定位方法的实际可行性。
Abstract:
In order to achieve visual orientation for biped robot NAO with single camera using monocular vision technology, a space point orientation model is established. The model based on the camera perspective model of holes, two-dimensional coordinates of images are mapped to three-dimensional coordinates in the same system as the robot is according to geometrical relationships, to realize the space target orientation for NAO based on monocular vision. Finally, an orientation experiment is conducted where errors of the results are within the allowed range, therefore validating the practical feasibility of the method.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2015-05-08
作者简介:王中成(1990-),男,黑龙江五常人,硕士研究生,研究方向为多机器人系统合作与协调技术; 赵学增(1961-),男,黑龙江宾县人,教授,研究方向为传感器技术、微纳米测量。
更新日期/Last Update: 2015-09-25