Binocular Stereo Vision Based Obstacle Detection Method for Manipulator
文献类型：会议论文
| 作者 | Liu, Qiang; Zhang XX(张晓雪); Liu JG(刘金国) ; Zhang T(张天); Ni ZY(倪智宇)
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| 出版日期 | 2016 |
| 会议名称 | International Conference on Electrical Engineering and Automation (ICEEA) |
| 会议日期 | December 18-19, 2016 |
| 会议地点 | Xiamen, China |
| 关键词 | Binocular stereo vision Obstacle detection Manipulator |
| 页码 | 1-9 |
| 通讯作者 | Liu JG(刘金国) |
| 中文摘要 | An obstacle detection method is proposed based on binocular stereo vision for manipulator. Firstly, images are preprocessed after camera calibration such as graying and distortion correction. Then, aiming at the defect that feature points are extracted mixed with many edge response points by traditional SIFT (Scale Invariant Feature Transform) algorithm, we propose wavelet transform to extract the edge points, and compare the edge points with feature points to further eliminate unstable feature points. Finally, the effectiveness of the algorithm is verified by obstacle detection and obstacle avoiding experiments. The results demonstrate that the improved SIFT algorithm can remove the edge responses that the DOG operator generates effectively, and improve the stability and anti-noise ability of SIFT algorithm compared with traditional SIFT algorithm. |
| 收录类别 | CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | 2016 INTERNATIONAL CONFERENCE ON ELECTRICAL ENGINEERING AND AUTOMATION (ICEEA 2016)
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| 会议录出版者 | DESTECH PUBLICATIONS, INC |
| 会议录出版地 | LANCASTER |
| 语种 | 英语 |
| ISSN号 | 2475-885X |
| ISBN号 | 978-1-60595-407-3 |
| WOS记录号 | WOS:000406674000073 |
| 源URL | [http://ir.sia.cn/handle/173321/20866]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 |
| 作者单位 | 1.The State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 2.School of Information and Control Engineering, Liaoning Shihua University, Fushun, China |
| 推荐引用方式 GB/T 7714 | Liu, Qiang,Zhang XX,Liu JG,et al. Binocular Stereo Vision Based Obstacle Detection Method for Manipulator[C]. 见:International Conference on Electrical Engineering and Automation (ICEEA). Xiamen, China. December 18-19, 2016. |
入库方式： OAI收割
来源：沈阳自动化研究所
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