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首页> 外文会议>International conference on mechatronics technology >Monocular Vision, Optical Blur and Visual Looming as a Basis for Mobile Robot Obstacle Avoidance
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Monocular Vision, Optical Blur and Visual Looming as a Basis for Mobile Robot Obstacle Avoidance

机译：单眼视觉，光学模糊和可视织机作为移动机器人避障的基础

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摘要

Avoidance of obstacles is a fundamental problem for mobile robots.In recent times,a rapid increase in computing power combined with an equally steep decrease in size,electrical requirements and cost in computers has led to the increase in the use of cameras and vision as a realistic means of achieving real time avoidance.In this paper,we investigate a means by which a machine vision system could utilise optical blur as an avoidance indicator.The methods used are intended for monocular systems and employ the blur recovery methods of Hu and de Haan to find optical blur and optical blur and the looming method described by Raviv and Joarder and Sahin and Gaudiano to relate this to object approach.It was intended that this system be relatively simple in hardware and software implementation.To verify the success of the design,we conducted tests in a controlled environment.It was found that obstacle approach could reliably be computed through this method,but its success depended on the camera lens properties.
机译：避开障碍物是移动机器人的基本问题。近来，计算能力的快速提高，以及尺寸，电气要求和计算机成本的急剧下降，导致了相机和视觉设备的使用增加。本文中，我们研究了一种机器视觉系统可以利用光学模糊作为避免指标的方法。所使用的方法旨在用于单目系统，并采用Hu和de Haan的模糊恢复方法为了找到光学模糊和光学模糊以及Raviv和Joarder和Sahin和Gaudiano所描述的迫近方法，将其与对象方法相关联。该系统的硬件和软件实现相对简单。为验证设计是否成功，我们在可控的环境中进行了测试。发现通过这种方法可以可靠地计算出障碍物进近，但其成功取决于摄像机镜片特性。

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