Binocular Vision Object Positioning Method for Robots Based on Coarse-fine Stereo Matching
文献类型：期刊论文
| 作者 | Wei-Ping Ma; Wen-Xin Li; Peng-Xia Cao |
| 刊名 | International Journal of Automation and Computing
 |
| 出版日期 | 2020 |
| 卷号 | 17期号:4页码:562-571 |
| 关键词 | Object positioning stereo matching random fern normalized cross correlation binocular vision model. |
| ISSN号 | 1476-8186 |
| DOI | 10.1007/s11633-020-1226-3 |
| 英文摘要 | In order to improve the low positioning accuracy and execution efficiency of the robot binocular vision, a binocular vision positioning method based on coarse-fine stereo matching is proposed to achieve object positioning. The random fern is used in the coarse matching to identify objects in the left and right images, and the pixel coordinates of the object center points in the two images are calculated to complete the center matching. In the fine matching, the right center point is viewed as an estimated value to set the search range of the right image, in which the region matching is implemented to find the best matched point of the left center point. Then, the similar triangle principle of the binocular vision model is used to calculate the 3D coordinates of the center point, achieving fast and accurate object positioning. Finally, the proposed method is applied to the object scene images and the robotic arm grasping platform. The experimental results show that the average absolute positioning error and average relative positioning error of the proposed method are 8.22 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/42279]  |
| 专题 | 自动化研究所_学术期刊_International Journal of Automation and Computing |
| 作者单位 | Lanzhou Institute of Physics, China Academy of Space Technology, Lanzhou 730000, China |
| 推荐引用方式 GB/T 7714 | Wei-Ping Ma,Wen-Xin Li,Peng-Xia Cao. Binocular Vision Object Positioning Method for Robots Based on Coarse-fine Stereo Matching[J]. International Journal of Automation and Computing,2020,17(4):562-571. |
| APA | Wei-Ping Ma,Wen-Xin Li,&Peng-Xia Cao.(2020).Binocular Vision Object Positioning Method for Robots Based on Coarse-fine Stereo Matching.International Journal of Automation and Computing,17(4),562-571. |
| MLA | Wei-Ping Ma,et al."Binocular Vision Object Positioning Method for Robots Based on Coarse-fine Stereo Matching".International Journal of Automation and Computing 17.4(2020):562-571. |
入库方式： OAI收割
来源：自动化研究所
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