空间测距是移动机器人实时避障和路径规划的基础.研究了移动机器人双目摄像头由一般布置形式变换到标准布置形式进而实现空间测距的方法.首先对摄像头进行标定(对双目摄像头进行立体标定);然后基于标定结果对摄像头一般布置下所获得立体图像进行极线校正,并得到校正后新的摄像机相互位置参数;最后基于已校正图像和新的位置参数实现移动机器人移动过程中深度与特定目标空间尺寸测量.实验结果证实了本文方法能获得比较精确的测量结果.%Space distance measurement is the basis of real-time obstacle avoidance and path planning for mobile robot.The method of converting the general layout of mobile robot's binocular camera into the standard layout and realizing the space distance measurement is studied.First,the camera is calibrated(the stereo calibration for binocular camera).Then,the epipolar rectification of stereo images obtained under the general layout of the camera based on the calibration results is carried out and the new position parameters between cameras after rectification are obtained.Finally,the depth and the specific object size are measured based on the rectified image.The experimental result demonstrates that the proposed method can obtain more accurate measurement results.
展开▼
