Method for predicting the front slope of a mobile robot based on downward-inclined binocular stereo vision
A binocular stereo vision, mobile robot technology, applied in instruments, manipulators, computer parts and other directions, can solve problems such as computational difficulty
Inactive Publication Date: 2019-07-09
HANGZHOU JINGYI INTELLIGENT SCI & TECH
View PDF0 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
For cameras that collect information about ground conditions, the optical axis may be parallel to the site of the outdoor mobile robot, or it may be set downward, so that the field of view can be focused on the ground instead of the sky and the distance, but it also brings certain difficulties to the calculation
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 moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0014] The present invention will be further described below in conjunction with accompanying drawing:
[0015] refer to figure 1 -3. A method for predicting the slope ahead of the mobile robot based on down-tilt binocular stereo vision, including a binocular stereo camera installed at the front of the mobile robot, with a focal length of f, a baseline width of b, and a height of h.
[0016] The angle between the optical axis of the binocular stereo camera and the chassis of the mobile robot is β, so that the field of view is mainly concentrated on the ground, which is conducive to extracting useful information. It also includes a processor connected with the binocular stereo camera, and the processor sets the forward slope prediction method, including the following steps:
[0017] (1) The processor obtains the image pair f of the binocular stereo camera L and f R , form the depth information z=f(x,y), where x,y are the coordinates of the image plane, and z is the correspon...
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
Login to View More Abstract
The invention discloses a method for predicting the front slope of a mobile robot based on downward-inclined binocular stereo vision. The method comprises a binocular stereo camera arranged on the front portion of a mobile robot in a downward inclining mode and further comprises a processor connected with the binocular stereo camera, and the processor sets a front slope prediction method . The method comprises the steps that 1, acquiring an image pair fL and an image pair fR of the binocular stereo camera to form depth information z = f (x, y); 2, for an imaging point a (xA, yA), calculating aprojection angle, for a flat ground, wherein the depth of a ground point A' correspond to the point a is z ', wherein the depth of an actual point A is zA = f (xA, yA); 3, calculating the angle Delta, the depth z ', the length l3 of the line segment AO and the vertical distance l2 from the point A to the plumb line where the optical center O is located, 4, calculating alfa if the depth zA is z'and the front ground is a downhill slope, if the depth zA is z 'and the ground is an uphill slope, calculating the slope as alfa and if the depth zA is equal to z', determining that the ground is a plane.
Description
technical field [0001] The invention relates to a method for predicting the slope ahead of a mobile robot based on down-tilt binocular stereo vision, and belongs to the field of mobile robot control. Background technique [0002] The working environment of the outdoor mobile robot is very complicated, and the undulation of the ground is changeable, it may be flat, it may also be uphill or downhill, so it is very important for the mobile robot to know this information in advance, otherwise it may cause accidents such as dumping. For the camera that collects information on ground conditions, the optical axis may be parallel to the site of the outdoor mobile robot, or it may be set downward, so that the field of view can be focused on the ground, rather than the sky and the distance, but it also brings certain difficulties to the calculation. Contents of the invention [0003] In view of the above problems, the present invention provides a method for predicting the slope ahea...
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
Login to View More Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00B25J9/16
CPCB25J9/1676G06V20/10
Inventor 刘瑜
Owner HANGZHOU JINGYI INTELLIGENT SCI & TECH