摘要
针对嵌入式智能机器人移动过程中障碍物检测问题,提出了一种采用双激光扫描线辅助的双目立体视觉三维重建方法。该方法可以根据场景需要自适应地改变激光器的扫描角度和频率,动态地调整特征点的密度信息,使得DSP处理器在处理多任务时,能够有效解决特征匹配算法中关键场景深度信息不够的问题。在室内走廊行走测试实验中,该系统能成功检测到门的状态,并精确计算出门套及门槛的尺寸大小,该方法能有效提升嵌入式处理时效,距离误差小于5%。
Based on the obstacle detection problem of intelligent moving robot,this paper proposed a three-dimensional reconstruction method of binocular stereo vision assisted by dual laser scanning lines.It can change the laser scanning angle and frequency self-adaptive according to the variety of the scene,and adjust the density information of feature points dynamically.It can make the DSP processor to collect depth information efficiently at the feature matching algorithm with dealing multi tasks.According to the indoor corridor walking experiment,the system can detect the open door and calculate the parameters of the threshold.This method can improve the effectiveness of embedded processing,and the distance error is less than 5%.
作者
魏保龙
王霏
WEI Bao-long;WANG Fei(School of Mathematics and Computer Science,Yichun University,Yichun 336000,China)
出处
《宜春学院学报》
2024年第3期24-28,共5页
Journal of Yichun University
基金
江西省教育厅科技项目(编号:GJJ219309)。
作者简介
魏保龙(1988-),男,江西丰城人,实验师,硕士,研究方向为物联网和嵌入式系统开发。
