Research on Stereo Vision match Algorithm for Attitude Recognition of Manipulator

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Research on Stereo Vision match Algorithm for Attitude Recognition of Manipulator

Article | 更新时间：2020-08-12

- Research on Stereo Vision match Algorithm for Attitude Recognition of Manipulator
- Optics and Precision Engineering Vol. 18, Issue 2, Pages: 464-469(2010)
- 作者机构：
  
  吉林大学机械科学与工程学院
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP241.2
- Received：24 November 2008，
  
  Revised：11 February 2009，
  
  Published Online：20 February 2010，
  
  Published：20 February 2010
- 稿件说明：
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胡庆玉,高春甫,唐可洪,赵丁选. 机械手姿态识别的立体视觉匹配[J]. 光学精密工程, 2010,18(2):464-469

Research on Stereo Vision match Algorithm for Attitude Recognition of Manipulator[J]. Optics and precision engineering, 2010, 18(2): 464-469.
胡庆玉,高春甫,唐可洪,赵丁选. 机械手姿态识别的立体视觉匹配[J]. 光学精密工程, 2010,18(2):464-469 DOI：

Research on Stereo Vision match Algorithm for Attitude Recognition of Manipulator[J]. Optics and precision engineering, 2010, 18(2): 464-469. DOI：

摘要

在研究双目立体视觉的基础上，提出了区域边缘线段立体匹配算法

该算法利用边缘线段几何特性以及区域的颜色特性进行匹配

利用图像提供的颜色信息，特别是颜色梯度方向信息，使得边缘线段依靠其自身的几何特征及直线段所在图像区域的所有信息进行综合匹配。通过该算法进行机械手姿态识别实验，结果验证了该算法能够在复杂背景下识别机械手的姿态，识别精度高，精度达到0.017，试验达到了预期目的。

Abstract

The region-margin line segment stereo match algorithm is proposed based on the research on binocular stereo vision. The geometric characteristics of margin line segment and the color characteristics of the region are used to realize integrate matching. Using the information of color and color gradient direction

the integrate match is realized depend on all information of the geometric characteristics of the margin line segment and the region of the line segment. The experiment of attitude recognition of manipulator is done by the algorithm and the result shows that the algorithm could recognize the attitude of manipulator by higher accuracy in complicated background. The recognition accuracy reach to 0.017 and the expected aim is reached.

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