Unlock instant, AI-driven research and patent intelligence for your innovation.

Robot astronaut binocular visual system self-calibration method

A technology of binocular vision system and vision system, which is applied in the field of self-calibration of binocular vision system of robot astronauts, and can solve problems such as light sensitivity

Active Publication Date: 2016-11-09
BEIJING INSTITUTE OF TECHNOLOGYGY
View PDF1 Cites 1 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] In summary, the problem that the self-calibration method based on parallel lines is sensitive to light is solved

Method used

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
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Robot astronaut binocular visual system self-calibration method
  • Robot astronaut binocular visual system self-calibration method
  • Robot astronaut binocular visual system self-calibration method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0038] Embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0039] Establish a self-calibration model, and the two hidden points obtained from the template image in the image coordinate system are: A(u A ,v A ), B(u B ,v B ), the midpoint of the line is E(u E ,v E ), u E =(u A + u B ) / 2, v E =(v A +v B ) / 2, the equation of a sphere whose diameter is the line connecting the hidden points A and B in the camera coordinate system is:

[0040] [ x - u E d x + c x d ...

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

PUM

No PUM Login to View More

Abstract

The invention discloses a robot astronaut binocular visual system self-calibration method, which establishes an information database, and utilizes Asift&Ransac, image segmentation, hough transformation and Ransac fitting to solve the problem that self-calibration methods based on parallel lines are sensitive to illumination; a distance threshold method is introduced to control the position of a visual system, thereby solving the imaging plane restriction of self-calibration methods based on parallel lines. When a robot astronaut is sent to the space and an unforeseen circumstance occurs in a work process, the robot astronaut binocular visual system self-calibration method can utilize the space station environment to perform self-calibration on a binocular visual system, adaptively adjust an algorithm in a self-calibration process according to the space station environment to obtain accurate parameters of the binocular visual system, realize accurate three-dimensional positioning, and provide support for the robot astronaut to carry out tasks such as terminal operation.

Description

technical field [0001] The invention relates to a self-calibration method of a robot astronaut's binocular vision system, which solves the problem of real-time self-calibration of the robot astronaut's binocular vision system in a complex space station environment. Background technique [0002] A binocular vision system is generally installed on a robotic astronaut system that can move autonomously to assist it in various tasks such as navigation, positioning, and terminal operation. In order to use the binocular vision system for accurate three-dimensional positioning, the parameters of the binocular vision system must be obtained, that is, calibration. During the process of the binocular vision system being transported to the sky by rocket, its parameters are easy to change and need to be recalibrated; after being put into use in the space station, if the camera fails and needs to be replaced, or encounter bumps during the operation, etc. Unexpected situations also requir...

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

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00
Inventor 蒋志宏李晓云魏博李辉黄强
Owner BEIJING INSTITUTE OF TECHNOLOGYGY