Binocular vision positioning method for target grabbing of underwater robot

A binocular vision positioning and underwater robot technology, applied in the field of computer vision, can solve the problems of incompatibility between accuracy and speed

Active Publication Date: 2020-04-24
HARBIN ENG UNIV
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Problems solved by technology

[0005] The purpose of the present invention is to provide a binocular vision positioning method for target graspin

Method used

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  • Binocular vision positioning method for target grabbing of underwater robot
  • Binocular vision positioning method for target grabbing of underwater robot
  • Binocular vision positioning method for target grabbing of underwater robot

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Embodiment Construction

[0062] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0063] This example provides a binocular vision positioning method for underwater robot target capture, constructs a scale pyramid to extract FAST feature points, forms a LATCH binary descriptor for feature point matching, and uses the PROSAC algorithm to remove mismatches to obtain accurate parallax value, to solve the problem that the accuracy and speed of the existing technology cannot be balanced. Such as figure 1 As shown, the overall implementation process of the present invention is as follows:

[0064] Binocular calibration: Underwater offline calibration of the binocular camera according to the pinhole imaging principle, and calculate the internal parameter matrix, external parameter matrix, distortion coefficient, and rotation and translation matrix between the left and right cameras.

[0065] Target detection: online dete...

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Abstract

The invention relates to a binocular vision positioning method for target grabbing of an underwater robot, and belongs to the field of computer vision. The method is mainly used for accurately acquiring three-dimensional information of a grabbed target when an underwater robot works. The method comprises the following steps: double-target positioning: calculating internal and external parameters of left and right cameras; target detection: positioning a target object detection frame; binocular image correction: carrying out distortion correction and stereo correction, and determining a right image target area; binocular image stereo matching: extracting image feature points, describing the feature points, performing stereo matching, and removing mismatching; and calculating the three-dimensional information of the target in the image under the left camera coordinate. According to the method, the accurate parallax value is obtained by extracting feature points, removing unstable featurepoints through non-maximum suppression, constructing a binary descriptor, matching the feature points and removing mismatching. Through the scheme, the binocular stereo matching robustness can be improved, and meanwhile, the three-dimensional information of the detection target can be accurately obtained, so that the real-time positioning requirement on the target when the underwater robot grabsthe target is met.

Description

technical field [0001] The invention relates to a binocular vision positioning method for underwater robot target grasping, belonging to the field of computer vision. Background technique [0002] The marine environment is unknown and harsh, and some marine organisms need to be collected manually, which is extremely difficult to catch. Therefore, the development of underwater robots to replace humans to complete the work under these special working conditions has become the trend of marine organism fishing in the future. The binocular vision positioning technology can provide the distance information and position information of the target object for the underwater robot in real time, guide the robot to realize the autonomous obstacle avoidance function and complete the intelligent autonomous grasp of marine organisms. Compared with other positioning technologies, such as laser and sonar, binocular stereo vision can intuitively feed back underwater images with clear image det...

Claims

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Application Information

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IPC IPC(8): G06T7/73G06T7/80G06T5/00G06K9/62
CPCG06T7/73G06T7/80G06T5/006G06T2207/20081G06F18/22Y02A90/30
Inventor 黄海石晓婷盛明伟张万里徐杨鲍轩
Owner HARBIN ENG UNIV
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