Binocular vision positioning method for target grabbing of underwater robot

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...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a binocular vision positioning method for target grasping of underwater robots in order to solve the problem that the accuracy and speed of the prior art cannot be balanced

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