机械臂视觉伺服系统医中的高精度实时特征提取.pdfVIP

第 24 卷 第 10 期 控 　制 　与 　决 　策 2009 年 10 月 Vol . 24 No . 10 Cont rol an d D ecis ion 　 Oct . 2009 　　文章编号 : 100 10920 (2009) 机械臂视觉伺服系统中的高精度实时特征提取 于乃功 , 秦永钢 , 阮晓钢 (北京工业大学 电子信息与控制工程学院 , 北京 100 124) 摘 　要 : 以机械臂视觉伺服系统为背景 ,立体视觉所需要的特征点为 目标 ,提出一种基于颜色块的实时特征提取方 法. 特征点的定位分为粗定位和精定位两个过程 ,粗定位用来跟踪 目标颜色块 ,精定位在粗定位的基础上 ,切出小图 像并提取 目标轮廓 ,利用 KL 变换对轮廓点进行分类 ,并通过最小二乘法对边缘点进行拟合. 根据直线方程计算顶 点的亚像素精度坐标 ,为下一步的目标位姿测量提供基础. 实验结果验证了该方法的有效性. 关键词 : 视觉伺服 ; 颜色块 ; 目标跟踪 ; 特征提取 中图分类号 : TP39 1. 4 1 　　　　文献标识码 : A High accurate and realtime feature extraction in visual servoing systems f or robotic arms Y U N aig ong , QI N Yongg ang , R UA N X i aog ang ( Elect ronic Information and Cont rol Engineering College , Beij ing U niver sit y of Technology , Beij ing 100 124 , China . Correspondent : YU Naigong , Email : yunaigong @bj ut . edu . cn) Abstract : Wit h t he background of vi sual servoing for robotic arm s and wit h t he aim of feat ures required by st ereo vi sion , a met hod for realtime feat ure ext raction ba sed on t he block of color i s p resent ed . The localization of feat ure includes coar se location and fine location . The coar se location i s u sed to t rack t he obj ect . On t he ba si s of coar se location , t he fine location cut s a small image f rom t he origin image , ext ract s t he contour of t he obj ect f rom t he small image and cla ssifies t he contour by KL t ran sform , t hen fit s t he edge point s by u sing lea se square error met hod . The subpixel coor dinat es of t he feat ure point s are calculat ed by t he equation s of lines , which p rovides foundation for t he mea surement of obj