遍历广义Hough变换的烹饪机器人锅具椭圆参数拟合算法.pdf

遍历广义Hough变换的烹饪机器人锅具椭圆参 遍历广义Hough变换的烹饪机器人锅具椭圆参 遍遍历历广广义义HHoouugghh变变换换的的烹烹饪饪机机器器人人锅锅具具椭椭圆圆参参 数拟合算法 数拟合算法 数数拟拟合合算算法法 1 1 1 1 2 闫维新 ，马文涛 ，付 庄 ，赵言正 ，刘小勇 （1.上海交通大学 机器人研究所，上海 200240；2.深圳繁兴科技有限公司，广东 深圳 518067） 摘 要：锅具位姿的计算是双目视觉烹饪机器人示教系统的难点，针对此问题设计了基于遍历广义Hough变换 的烹饪机器人锅具椭圆参数拟合算法，算法结合了最小二乘法和广义Hough变换，使用曲线窗体滑动遍历的方式给 椭圆不同曲线段打分拟合出锅具的唯一椭圆，再使用最小二乘法计算此椭圆的参数值。解决了烹饪机器人示教系统 中锅具椭圆参数精确提取问题。实验表明该锅具识别算法能够高效地提取画面中的锅具椭圆参数，能较好地满足烹 饪机器人示教系统的要求。 关键词：烹饪机器人；最小二乘法；广义Hough变换；示教系统 中图分类号：TP242.3 文献标识码:A Fitting algorithm of ellipse parameters of wok for cooking robot based on generalized Fitting algorithm of ellipse parameters of wok for cooking robot based on generalized FFiittttiinngg aallggoorriitthhmm ooff eelllliippssee ppaarraammeetteerrss ooff wwookk ffoorr ccooookkiinngg rroobboott bbaasseedd oonn ggeenneerraalliizzeedd traverseHoughtransform traverseHoughtransform ttrraavveerrsseeHHoouugghhttrraannssffoorrmm 1 1 1 1 2 YANWei-xin ,MAWen-tao ,FUZhuang ,ZHAOYan-zheng ,LIUXiao-yong (1.ResearchInstituteofRobotics,ShanghaiJiaoTongUniversity,Shanghai200240,P. R.China;2.Pansum(Shenzhen)Co., Ltd,Shenzhen518067,P. R.China） Abstract Abstract AAbbssttrraacctt Thecalculationofposeof wok isthestickingpointofstudyingsystem ofcookingrobotbasedon binocular ： vision, the fitting algorithm of ellipse parameters of wok for cooking robot based on generalized traverse Hough transform has been designed to deal with it. The algorithm combined the least-squares method with generalized traverse Hough transform, sliding curve window was used to take a vote on different curves to fitting unique ellipse of wok, then least-squares method was used to obtain the ellipse parameter. It solves the problem of fitting ellipse parameter of