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针对目前球形机器人定位问题,提出了基于立体视觉定位的球形机器人BYQ-6b.采用双目相机实时地获取周围环境连续的图像序列,并提取图像特征.通过左右帧图像的特征匹配、前后帧图像的特征跟踪以及运动估计算法等获得球形机器人在前后帧图像之间的运动增量,最后获得球形机器人的全局位姿.详细介绍了BYQ-6b球形机器人的机械结构、控制系统以及立体视觉定位的实现方法.实验结果验证了所提出的系统设计与立体视觉定位方法的可行性.
In order to solve the problem of spherical robot positioning, a spherical robot named BYQ-6b based on stereoscopic vision positioning is proposed.Using a binocular camera to acquire continuous image sequences of surrounding environment in real time and to extract image features.By the feature matching of left and right frame images, The feature tracking and motion estimation algorithm to obtain the incremental motion of the spherical robot between front and back frame images and finally obtain the global pose of the spherical robot.The mechanical structure, control system and stereo vision positioning of the BYQ-6b spherical robot are introduced in detail The experimental results verify the feasibility of the proposed system design and stereo vision positioning method.