CAJ | 학술논문

传统双目视差测距法的测量值为参照点P到双目摄像机基线中心的距离,而农业机器人上的摄像头装置通常被安装在距离地面一定高度,与水平方向呈一定倾角的位置,利用传统双目视差测距法将无法得到导航参照点到机器人机身的水平距离. 为此,提出了一种解决农业机器人田间导航参照点测距的新方法. 通过改进的BP神经网络标定下的双目系统、改进的SIFT 特征匹配,输出导航参照点在世界坐标系下的坐标 X , Y ) ,则导航参照点距机器人机身的水平距离可表达为S= √X2+Y2. 实验表明:该方法在实际田间测试中的结果最大偏差0.479cm,最小偏差0.032cm,精度高达99%,测距过程耗时共计55ms,计算量较传统双目视差测距显著减小,具有一定的工程实用性与可行性.
전통쌍목시차측거법적측량치위삼조점P도쌍목섭상궤기선중심적거리,이농업궤기인상적섭상두장치통상피안장재거리지면일정고도,여수평방향정일정경각적위치,이용전통쌍목시차측거법장무법득도도항삼조점도궤기인궤신적수평거리. 위차,제출료일충해결농업궤기인전간도항삼조점측거적신방법. 통과개진적BP신경망락표정하적쌍목계통、개진적SIFT 특정필배,수출도항삼조점재세계좌표계하적좌표 X , Y ) ,칙도항삼조점거궤기인궤신적수평거리가표체위S= √X2+Y2. 실험표명:해방법재실제전간측시중적결과최대편차0.479cm,최소편차0.032cm,정도고체99%,측거과정모시공계55ms,계산량교전통쌍목시차측거현저감소,구유일정적공정실용성여가행성.
The distance measured by the classical binocular parallax value is the one from the reference point P to the center of the binocular cameras baseline .But the binocular cameras on the agricultural robot are usually settled in the po-sition that is some height from the earth and a certain angle to the horizontal .A new way to solve the measuring the dis-tance between agricultural robot and the navigation reference point is proposed in this paper .By using the improved BP neural network and the improved SIFT to export the world coordinates (X,Y).The horizontal distance between the agricultural robot and the reference P can be expressed asS= √X2 +Y2 .Experiments show the maximum deviation is 0.479cm, the minimum deviation is 0.032cm.The amount of the whole calculation is much less than the classical meas-uring method which is helpful to the research of agricultural robot ' s positioning control in the farm field .