[参考]基于摄像机的机器人视觉定位的研究.docVIP

基于摄像机的机器人视觉定位的研究 摘要 自主式移动机器人(Autonomous Mobile Robot)的一个功能是确定在环境中的位置(定位)环境中可以确定与周围环境的位置关系根据任务做出路径选择决策因此定位技术对实现自主功能是必不可少的定位说利用地图信息﹑机器人以及等输入信息经过一定的处理机器人当前位姿目前室内自主式移动机器人大多采用传感器定位传感器的信息实现的定位是当前移动机器人研究中的一个重要研究主题 在视觉图像处理过程中，图像分析、选择合适的理论方法是最重要的一步。首先利用已知条件对捕获图像进行缩放和剪裁，结合灰度变换、图像基本运算和数学形态学操作进行预处理，然后智能选取阈值分割、运用数学形态学方法对图像进行分割，同时对连通的区域进行标注、获取特征信息，运用模式识别知识对环境因素图像进行智能训练、识别、定位以提取所需的测距参数。本文运用MATLAB2011开发平台，采用IPT函数，以提高图像处理的效率与质量；且把通过CCD反转透视变换理论得出的数学模型来测量距离，使视觉测距过程时延更小、反应更迅速。通过在有复杂背景的实际图像的实验验证，本研究所提出的方法和技术具有很好的实用价值，可为现代机器人的视觉信息处理提供重要参考。 关键词：摄像头；定位；图像处理；测量距离 Summary Autonomous mobile robot?is?a?very important function?is?to?independently determinetheir own?position?in the environment.?Must first?robot?in the environment?can determinethe location?with?the?surrounding environment,?according?to?the?task?to make?the correct path?choices and decisions.?Positioning technology?for?the robot?to achieve?autonomyis essential.?Positioning?map information?that is?robot,?the?robot?the current state?and sensor?input,?after?some?processing, it is estimated that?the current?position and orientation?of?the?robot.?At present, the?indoor?autonomous?mobile robot?mostof?thecollision?sensor?positioning.?Sensor?information?autonomously?to?achieve?accuratepositioning?is?an important research?topic?in?mobile?robot research.?In this study,?the robot?is?based?on?camera?sensors,?through image processing?to?extract?theenvironmental factors,?measuring?the?distance?between?themselves and the?various factors?and?the?horizontal angle. Visual image?processing, image analysis, select the?appropriate?theoretical?method?is the most important?step.?First of all?the?known conditions?on the?captured image?to zoom in?and?cut, combined with?the?gray-scale transformation,?image?computing andmathematical morphology?operations?pretreatment,?and then intelligently?select the threshold?segmentation,?image segmentation?using?mathematical morphology, while?on the?connectivity?regional?label,?get?feature information,?the?use of?the?kn