Abstract: In order to assist the police to accomplish handle explosive better, a new explosive-handling robot with a binocular vision system is developed. The vision system captures real-time images, makes camera calibrations with Zhang’s method, preprocessess images, matches feature point, gets the stereo coordinate of the feature point of the suspicious objects, programming with Matlab7.0 and the pattern matching library EasyMatch of machine vision software eVision, 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: Explosive-handling robot, Computer vision, Camera calibration, Feature matching, 3D reconstruction

摘要： 为了辅助公安人员更好地完成排爆工作，设计和开发了一个带双目立体视觉系统的排爆机器人。该视觉系统使用Matlab7.0和机器视觉软件EVision的EasyMatch库进行开发，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，并把图像实时显示在控制台，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地抓取实验，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: 排爆机器人, 计算机视觉, 摄像机标定, 特征匹配, 三维重建

CLC Number: 

• TP391