Mobile robot figure stitching method and device

An image stitching and image technology, applied in the field of robot vision, can solve the problems of fusion image blur, splicing image blur, and difficulty in achieving perfect registration, etc., and achieve high robustness and the effect of eliminating ghosting
CN104463786AInactive Publication Date: 2015-03-25INST OF AUTOMATION CHINESE ACAD OF SCI
4 Cites 36 Cited by

Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
INST OF AUTOMATION CHINESE ACAD OF SCI
Publication Date
2015-03-25
Estimated Expiration
Not applicable · inactive patent

Smart Images

  • Figure 1
    Figure 1
  • Figure 2
    Figure 2
  • Figure 3
    Figure 3
Patent Text Reader

Abstract

The invention discloses an image stitching method and device. The image stitching method and device are suitable for a binocular vision mobile robot platform, images collected through two eyes of a robot are stitched through an image stitching technology, the view of the robot can be increased, and the robot can better finish locating and environment reestablishment conveniently. The method includes the steps that image sequence feature points are extracted through an SUPF feature to form a feature vector; the feature vector space is searched, and feature matching points are searched; model parameters are estimated and converted robustly through a random sample consensus (RANSAC) algorithm; coordinate conversion is conducted on the images to be matched through a conversion mode, and the coordinate unification of the image sequence is achieved; the conversion relation met by the image sequence brightness space is estimated according to the brightness value of the corresponding matching points to achieve exposure compensation; the image overlapping region pixel value is determined through a pixel label method, and ghost reduction of the stitched images is achieved; image masks are generated according to the optimal label value set, and Laplacian pyramid fusion is conducted on the images.
Need to check novelty before this filing date? Find Prior Art

Description

technical field

[0001] The invention belongs to the technical field of robot vision, and in particular relates to an image splicing method and device for a mobile robot. Background technique

[0002] The positioning and environment reconstruction of mobile robots is the key technology to realize the robot's autonomous navigation and complete complex intelligent tasks in unknown environments. In practical applications, the monocular vision system is often unable to meet the needs of mobile robot positioning and environment reconstruction due to the influence of its small field of view. , so the binocular vision system is more favored by mobile robots. Using image stitching technology to stitch images collected by the robot's binoculars can increase the robot's field of vision and facilitate the robot's better positioning and environment reconstruction. Taking the "Yutu" lunar rover as an example, the "Yutu" is a special vehicle that travels on the surface of the moon and ins...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More