基于机器视觉的农业机器人运动障碍目标检测

在农业移动机器人平台上运用机器视觉技术检测作业环境中是否存在运动障碍目标时,机器人自身运动会与障碍目标运动叠加在一起.为此,首先在移动机器人平台上连续采集两帧图像,提取其特征点并加以匹配；然后应用双线性模型描述对应特征点在图像之间的运动特性,并用最小二乘法对模型参数进行最优估计,得到两帧图像之间的变换矩阵；最后利用此变换矩阵补偿前帧图像来消除机器人自身运动的影响,再与后帧图像作帧差,在线检测出运动障碍目标.实验结果表明,该方法仅依据图像信息即可有效地检测出农业机器人导航环境中存在的运动障碍目标.

Moving Obstacle Detection Based on Machine Vision for Agricultural Mobile Robot

The robotic ego-motion and the motion of moving obstacle were overlapped when an agricultural mobile robot need to detect the moving obstacle based on machine vision.So two images were taken from the mobile robot and the Harris feature points were extracted and matched.Then a bilinear model was applied to model the movement between the two images,and a least square optimization method was used to calculate the model parameters.A transformation matrix was obtained with this model to compensate the first imag...