计算机应用 ›› 2012, Vol. 32 ›› Issue (09): 2556-2559.DOI: 10.3724/SP.J.1087.2012.02556

• 图形图像技术 • 上一篇    下一篇

基于单目视觉的室内机器人障碍检测方案

何少佳,刘子扬*,史剑清   

  1. 桂林电子科技大学 机电工程学院,广西 桂林 541004
  • 收稿日期:2012-03-19 修回日期:2012-05-15 发布日期:2012-09-01 出版日期:2012-09-01
  • 通讯作者: 刘子扬
  • 作者简介:何少佳(1963-),男,广西玉林人,副教授,博士,主要研究方向:电机控制与自动化、电力电子与电力传动、智能机器人控制;刘子扬(1985-),男,湖南娄底人,硕士研究生,主要研究方向:机器视觉、智能导航; 史剑清(1989-),男,河南郑州人,硕士研究生,主要研究方向:机器视觉。
  • 基金资助:

    广西科学研究与技术开发计划项目(10100022-8);广西制造系统与先进制造技术重点实验室项目(0842006_020_Z)

Obstacle detection of indoor robots based on monocular vision

HE Shao-jia,LIU Zi-yang*,SHI Jian-qing   

  1. Electromechanical Engineering College,Guilin University of Electronic Technology,Guilin Guangxi 541004,China
  • Received:2012-03-19 Revised:2012-05-15 Online:2012-09-01 Published:2012-09-01

摘要: 为提高室内移动机器人障碍物检测能力,提出了一套基于单目视觉的检测方案。该方案首先对拍摄的图像进行色度、饱和度、亮度(HSI)颜色空间转换;然后,针对室内图像中目标和背景的分割,提出了小目标阈值选取法,提高了特定环境下图像分割的准确性;最后,用目标场景匹配法和目标投影匹配法相结合,计算分割后目标像素的变化和投影的变化,从而判别出目标是具有高度的障碍物还是地面图形。实验结果表明该方案的有效性和可行性,可为室内小型移动机器人提供良好的导航信息。

关键词: 单目视觉, 障碍物检测, 图像分割, 透视投影, 摄像机标定

Abstract: In this paper, a new monocular vision system was proposed to improve obstacle detection capability of indoor mobile robot. In this system, firstly, the Hue, Saturation, Intensity (HSI) color space conversion of images was performed. Secondly, a small target threshold selection method was proposed to segment the images, which enhanced the precision of the image segmentation. Thirdly, the target scene matching method and target projection matching method were used to calculate the change of the target pixel and projection so as to judge whether the target is obstacles or ground graphs. The experimental results show that the monocular vision system is effective and feasible, and this system can be applied to the navigation for small indoor mobile robots.

Key words: monocular vision, obstacle detection, image segmentation, perspective projection, camera calibration

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