计算机工程 ›› 2007, Vol. 33 ›› Issue (08): 216-218.doi: 10.3969/j.issn.1000-3428.2007.08.076

• 多媒体技术及应用 • 上一篇    下一篇

基于EVision的双目视觉系统的设计与实现

范路桥1,2,蒋梁中1,汪 伟1,姚锡凡1,何春彬1   

  1. (1. 华南理工大学排爆机器人研究室,广州 510641;2. 广东科学技术职业学院软件学院,广州 510640)
  • 收稿日期:1900-01-01 修回日期:1900-01-01 出版日期:2007-04-20 发布日期:2007-04-20

Design and Implementation of Binocular Visual System

FAN Luqiao1,2, JIANG Liangzhong1, WANG Wei1, YAO Xifan1, HE Chunbin1   

  1. (1. Research Lab of Explosive-handling Robot, South China University of Technology, Guangzhou 510641; 2. School of software, Guangdong Institute of Science and Technology, Guangzhou 510640)
  • Received:1900-01-01 Revised:1900-01-01 Online:2007-04-20 Published:2007-04-20

摘要: 设计和开发了一个排爆机器人的双目立体视觉系统。该系统使用Matlab7.0和机器视觉软件EVision6.2的EasyMultiCam进行图像捕获并和EasyMath模式匹配库进行图像特征匹配,能实时捕获排爆机器人周围的图像信息、进行摄像机标定、图像预处理、立体图像匹配、求取可疑目标物的特征点的立体坐标,并把图中实时显示在控制台上,控制排爆机器人准确地抓取可疑目标物。该机器人视觉系统成功的抓取实验,表明了它在精度上能够满足排爆机器人的项目要求。

关键词: 双目视觉, 特征匹配, 排爆机器人, EVision, Matlab

Abstract: A new binocular vision system for explosive-handling robot is designed. The vision system can capture real-time images, make camera calibrations with Zhang’s method, preprocess images, match feature point, and get the stereo coordinate of the feature point of the suspicious objects. With Matlab7.0 and EasyMultiCam of eVision6.2, the system displays the real-time images on the control panel and controls explosive-handling robot to grasp the suspicious objects accurately. Experimental results indicate the validity in real-time performance and precision of the vision system.
【Key words】

Key words: Binocular vision, Feature match, Explosive-handling robot, EVision, Matlab

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