用于移动机器人的结构光全景视觉
The structured light omnidirectional vision for mobile robot
摘要
结构光全景视觉具有信息感知范围宽、抗干扰强等优点在移动机器人等领域具有广阔的前景，然而现有的结构光全景视觉仅能测量一个平面的场景或者结构光编码图像容易受到曲面镜色散影响造成测量精度差，极大限制了其进一步应用。针对上述问题，本文开发了基于金字塔反射镜的结构光全景视觉，该系统可以获得场景中四周的物体的完整轮廓，同时平面反射镜避免了曲面镜的图像色散问题，极大地提高了测量精度。论文首先推导了金字塔反射镜的视角以期提高测量范围；接着给出了结构光全景视觉的编码方法；然后给出了金字塔反射镜的标定方法；最后，通过实验验证了结构光全景视觉的可行性。实验结果显示三维全景视觉的测量误差大约为0.5mm
Abstract
The structured light omnidirectional vision has broad applicative prospect in the field of mobile robot due to its wide field of view, high reliability. However, the existing structured light omnidirectional vision could only measure the planar point cloud on the object surface or the structured light pattern is prone to be influenced by the dispersion of curved mirror, resulting in low accuracy, which limits its further application. To solve above problems, this paper proposes a structured light omnidirectional vision based on pyramid mirror, which can obtain the entire object profile in the scenario; as well, the planar mirror avoids the dispersion caused by the curved mirror, leading to increased measurement accuracy. In this paper, the field of view for omnidirectional vision based on pyramid mirror is deduced to enlarge the viewing region; subsequently, the encoding strategy for omnidirectional vision pattern is given; then the calibration method for pyramid mirror is presented; last, the experiments are used to verify the feasibility of structured light omnidirectional vision and the experimental results show that the measurement error is around 0.5 mm.关键词
机械电子工程/移动机器人/结构光/全景视觉。Key words
mechatronics engineering/mobile robot/structured light/omnidirectional vision引用本文复制引用
徐静,姚又友.用于移动机器人的结构光全景视觉[EB/OL].(2014-12-26)[2026-04-04].http://www.paper.edu.cn/releasepaper/content/201412-826.学科分类
工程设计、工程测绘/自动化技术、自动化技术设备
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