CAJ | 학술논문

为了在机器人机械手双目视觉伺服系统中跟踪并精确定位目标的空间位置,提出了一种利用投影直方图匹配和极线几何约束的目标跟踪方法. 分别在2个视觉中人工标定目标,并提取目标在多颜色空间的水平、垂直投影直方图作为匹配模板;在一个视觉中利用目标的运动一致性原则和投影直方图匹配搜索并跟踪目标;在另一个视觉中依据双目视觉系统的极线几何原理限定目标搜索范围,搜索并定位目标. 该方法利用水平、垂直投影直方图描述目标的结构信息,同时完成了双目视觉系统中的目标跟踪与配准功能,有利于目标的精确定位和视觉测量. 实验结果表明,该方法可在双目视觉系统中有效跟踪目标,运算效率高,鲁棒性强.
위료재궤기인궤계수쌍목시각사복계통중근종병정학정위목표적공간위치,제출료일충이용투영직방도필배화겁선궤하약속적목표근종방법. 분별재2개시각중인공표정목표,병제취목표재다안색공간적수평、수직투영직방도작위필배모판;재일개시각중이용목표적운동일치성원칙화투영직방도필배수색병근종목표;재령일개시각중의거쌍목시각계통적겁선궤하원리한정목표수색범위,수색병정위목표. 해방법이용수평、수직투영직방도묘술목표적결구신식,동시완성료쌍목시각계통중적목표근종여배준공능,유리우목표적정학정위화시각측량. 실험결과표명,해방법가재쌍목시각계통중유효근종목표,운산효솔고,로봉성강.
An effective object location and tracking method is proposed for a robot manipulator's binocular visual servo system by utilizing projection histogram matching and the epipolar geometric constraint. The object is selected manually in the two vision systems, then the horizontal and vertical projection histograms, in multiple color spaces of the selected object, are extracted as matching templates for these two vision systems. The object in one vision system can be tracked by making use of the principle of moving continuity and the matching templates of the projec-tion histograms in multiple color spaces. In the other vision system, the object is located roughly based on epipolar geometric constraint, and then it can be tracked accurately using the same method which is used in the first vision. The proposed method describes the object's structural information by using horizontal and vertical projection histo-grams, and realizes the function of object tracking and registration in the binocular visual system, which is helpful in the precise location and visual measurement of the tracked object. The experiment results indicate that this meth-od can realize the binocular object tracking with high efficiency and strong robustness.