论文标题
基于双眼视觉的无人车辆的高精度目标定位系统
High-precision target positioning system for unmanned vehicles based on binocular vision
论文作者
论文摘要
无人车辆通常需要在工作过程中定位高精度的目标。在无人的材料处理研讨会中，无人车辆需要对工件进行高精度姿势估算以准确掌握工件。在这种情况下，本文提出了基于双眼视觉的高精度无人车目标定位系统。该系统使用基于区域的立体声匹配算法来获取差异图，并使用RANSAC算法提取位置和姿势特征，从而估计了六级圆柱形工作人员的位置和态度。为了验证系统的效果，本文以不同的姿势收集了圆柱体输出结果的准确性和计算时间。实验数据表明，系统的位置精度为0.61〜1.17mm，角度精度为1.95〜5.13°，可以实现更好的高精度定位效果。
Unmanned vehicles often need to locate targets with high precision during work. In the unmanned material handling workshop, the unmanned vehicle needs to perform high-precision pose estimation of the workpiece to accurately grasp the workpiece. In this context, this paper proposes a high-precision unmanned vehicle target positioning system based on binocular vision. The system uses a region-based stereo matching algorithm to obtain a disparity map, and uses the RANSAC algorithm to extract position and posture features, which achives the estimation of the position and attitude of a six-degree-of-freedom cylindrical workpiece. In order to verify the effect of the system, this paper collects the accuracy and calculation time of the output results of the cylinder in different poses. The experimental data shows that the position accuracy of the system is 0.61~1.17mm and the angular accuracy is 1.95~5.13°, which can achieve better high-precision positioning effect.
