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1)In order to help the humanoid robots build the environment map，a method of extracting the planes was proposed．The pair of original images was acquired by two CCD cameras，and through stereo matching，the depth image could be obtained．The median filter was adopted to reduce the noise 1eve1 of the depth image．The noise variance of image was estimated by averaging the estimates of the noise variance at each pixel for the sake of setting the thr eshold．Pixels of each line were scanned and split into two parts at the point furthest away along the z—axis from the chord between its tw o end points iteratively．The seed regions were selected from the groups of three line segments．Queue storing seed regions were ordered by the optimality criterion，and then the plane region was expanded around the seed region．Th e process of region growing would continue until the queue of seed region was empty．After trimming，the border of the planes became smooth．In the end，the edges of extracted planes were got．2、Two types of model：pipe and stairs in the experiment were adopted．Two planes in pipe model and 632 J．Cent．South Univ．Techno1．(201 1、18：627—632 six planes in stairs model were extracted exactly．The algorithm satisfied the demands of human oid robot’s navigation in terms of speed and precision．The plane would be flagged with level if the normal direction of plane was vertical to the robot’s reference surface，and then this information could be used for building the surrounding map. [ Last edited by 123wy123 on 2015-6-18 at 13:19 ] |
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123wy123: 金幣+25, 翻譯EPI+1, 非常感謝！�。≈x謝 2015-06-22 11:51:18
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| 1）為了幫助人形機(jī)器人構(gòu)建環(huán)境映像，設(shè)計(jì)了一種提取平面的方法。由兩臺(tái)電荷耦合（CCD）攝像機(jī)獲得成對(duì)的原始圖像，經(jīng)過(guò)立體匹配可得到深度圖像。采用中濾波器降低深度圖像的噪音水平。圖像的噪音離散是估算設(shè)定閾值時(shí)每一個(gè)像素噪音離散的平均值。交替掃描每一條線的像素并在兩個(gè)端點(diǎn)之間帶沿z軸上最遠(yuǎn)點(diǎn)將像素分成兩部分。種子區(qū)域從三線段組選取。排列存放種子區(qū)域按最優(yōu)化標(biāo)準(zhǔn)排序，平面區(qū)域就在種子區(qū)域周圍擴(kuò)張。區(qū)域生長(zhǎng)過(guò)程持續(xù)到排列的種子區(qū)域用完。經(jīng)過(guò)修飾，平面的邊界變得光滑。最后得到提取平面的邊緣。2、兩種模型：試驗(yàn)中采用了管道和樓梯模型。兩個(gè)平面用管道模型 632 J．Cent．South Univ．Techno1．(201 1、18：627—632）。六個(gè)平面用樓梯模型提取。在速度和精度上算法符合人形機(jī)器人導(dǎo)航的要求。如果平面的正常方向垂直于機(jī)器人的參考表面，則以等級(jí)標(biāo)記該平面，這個(gè)信息就可用于構(gòu)建周圍映像。 |
2樓2015-06-18 23:14:40
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