Variable-viewing angle obstacle detection method for robot based on outline recognition

Abstract

The invention discloses a variable-viewing angle obstacle detection method for a robot based on outline recognition. The method comprises the following steps: (1) calibrating a binocular visual system by using a calibration plate; (2) simultaneously shooting the same scene by virtue of two video cameras, carrying out epipolar rectification on left and right images, then extracting edges and connecting the edges; (3) searching an outline of a target object, and matching the outline; (4) rebuilding three-dimensional point clouds of the outline, and optimizing three-dimensional outline point clouds; (5) rotating a turntable at a certain angle, ensuring an overlapping region in two times of shooting, carrying out three-dimensional rebuilding in another direction; (6) searching the overlapping region of two groups of three-dimensional outline point clouds; (7) carrying out initial registration on the two groups of three-dimensional outline point clouds by adopting a seven-parameter method; (8) providing corresponding point weights of the overlapping region, carrying out iterative closest point operation on the three-dimensional outline point clouds of the overlapping region, and finishing accurate registration of the three-dimensional outline point clouds. The method disclosed by the invention is high in registration accuracy, small in operand and relatively high in instantaneity.

Description

technical field [0001] The invention belongs to the technical field of computer vision and image measurement, and in particular relates to a robot variable viewing angle obstacle detection method based on contour recognition in robot vision navigation. Background technique [0002] Binocular 3D reconstruction is a very important research field in machine vision and is widely used in robot navigation. After camera calibration, image acquisition, image preprocessing, stereo matching and 3D reconstruction, the 3D information of the object can be obtained. At present, most of the 3D reconstruction methods are based on a fixed viewing angle, that is, the range of 3D information obtained by the robot each time is fixed. This makes it impossible for the robot to analyze obstacles with a large viewing angle range and perform 3D reconstruction in the same coordinate system. [0003] In order to enable the robot to detect obstacles in a variable viewing angle according to actual req...

AI Technical Summary

Problems solved by technology

[0010] In order to overcome the shortcomings of large amount of calculation and poor rapidity of the existing robot obstacle detection method, the present invention provides a robot variable viewing angle obstacle detection method based on contour recognition, because the edge of the image contains useful information, and compared to the dense matching of all points, the amount of calculation is greatly reduced, and the edge-based stitching method can adapt to the rapid stitching of 3D point clouds without human intervention

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