CAJ | 학술논문

猕猴桃自动采摘机器人研究中,为了自动获取目标果实的空间坐标,提出了一种基于Kinect传感器的猕猴桃果实空间坐标获取方法.首先利用Kinect传感器的红外投影机和红外摄像机获取深度图像,利用彩色摄像机获取RGB图像,根据彩色图和深度图对应关系,转换成深度坐标;然后通过Map Depth Point To Skeleton Point函数得到以红外摄像机为原点的坐标系坐标.实验表明:该方法能够有效获取猕猴桃目标果实的空间坐标,其定位误差小于2mm.
미후도자동채적궤기인연구중,위료자동획취목표과실적공간좌표,제출료일충기우Kinect전감기적미후도과실공간좌표획취방법.수선이용Kinect전감기적홍외투영궤화홍외섭상궤획취심도도상,이용채색섭상궤획취RGB도상,근거채색도화심도도대응관계,전환성심도좌표;연후통과Map Depth Point To Skeleton Point함수득도이홍외섭상궤위원점적좌표계좌표.실험표명:해방법능구유효획취미후도목표과실적공간좌표,기정위오차소우2mm.
Considering the problems to acquire spatial coordinates of fruit during Kiwi fruit picking robot harvesting, a method is proposed to obtain the spatial coordinates of kiwi fruit based Kinect.This method can obtain the Kiwifruit spa-tial coordinates accurately.Kinect infrared projector and infrared cameras was used to obtain the depth of image, and Col-or camera for RGB images.According to corresponding relationship between color and the depth image, the depth of the coordinate could be obtained.Then, map depth point to skeleton point function was used to get Spatial coordinate system coordinates for the origin of the infrared camera.Experiments show that this method can effectively obtain the spatial co-ordinates of kiwi fruit, positioning error less than 2mm.