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Monocular vision robot rapid tracking method based on road correction

A monocular vision and robot technology, applied in instruments, computer parts, image data processing, etc., can solve the problems of complex road image modeling and large calculation amount, and achieve high engineering application value and simple operability. , the effect is obvious

Inactive Publication Date: 2014-10-29
BEIJING UNION UNIVERSITY
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Problems solved by technology

[0008] In view of the above-mentioned shortcomings and problems such as complex modeling and large amount of calculation in the existing process of correcting road images, the purpose of the present invention is to provide a simple and fast implementation of distortion correction for road images of monocular vision robots

Method used

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  • Monocular vision robot rapid tracking method based on road correction
  • Monocular vision robot rapid tracking method based on road correction
  • Monocular vision robot rapid tracking method based on road correction

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Embodiment Construction

[0032] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0033] In the present invention, the robot adopts the OV7620 camera as the visual sensor to collect road images, uses Freescale's K60 chip as the core of the control system, and the steering mechanism adopts a two-wheel differential structure, and two DC motors drive the differential structure to realize forward and steering .

[0034] In order to further illustrate the technical content of the present invention, the innovative points have good effects, and the following describes in detail in conjunction with the embodiments and accompanying drawings.

[0035] The robot fast tracking flow chart is as follows: figure 1 shown. The specific steps are as follows:

[0036] Step 1: Generate vertical correction coefficients.

[0037] The description is now made with the number of sampling lines H=15, the accuracy of sampling correction can be ch...

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Abstract

The invention discloses a monocular vision robot rapid tracking method based on road correction, and belongs to the field of monocular vision robot path recognition. The basic idea of the method comprises building a correction mapping table for an original road image in longitudinal and transverse directions so as to achieve correction on the road image of a monocular vision robot; and on the above basis, automatic tracking travel of the robot is achieved by adopting a deviation control manner. On the above basis, the robot travels by tracking the road, physical information such as actual road curvature and curvature can be accurately obtained, and influence of road image distortion on control and operation of the robot is reduced.

Description

technical field [0001] The invention belongs to the field of path recognition of a monocular vision robot, and relates to a fast tracking method for a monocular vision robot, in particular to a fast tracking method for a monocular vision robot based on road correction. Background technique [0002] Road recognition and positioning are one of the basic tasks of robots, and visual sensors have become one of the commonly used sensors for robot path recognition because of the large amount of information they can obtain and the long-range road vision. Among them, the monocular vision robot, that is, the robot that only obtains path information through a single visual sensor, has the advantages of simple and flexible hardware structure and easy data processing compared with binocular vision and full-view robots. Wide range of applications. [0003] The ideal installation position of the monocular vision sensor is to ensure that the photosensitive plane of the sensor is parallel t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/46G06T7/00
Inventor 梁军孙博轩梁爱华潘峰
Owner BEIJING UNION UNIVERSITY
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