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Vision sensor system based pipeline vehicle pose deviation correction method
Authors
赵吉宾
陈月玲
齐智峰
Publication date
4 January 2017
Publisher
Abstract
本发明涉及一种基于视觉传感器系统的管道车辆纠偏方法。其步骤为:对相机和结构光进行标定,得到相机内参数以及光平面参数;对采集的图像进行高斯平滑,去除噪声干扰;利用阈值分割对高斯平滑后的图像进行前景图像提取;通过形态学分析和轮廓大小特征去除光条纹附近的杂点;对得到的光条纹进行去畸变,分别计算两个光条纹所有点在相机坐标系下的三维点坐标;通过得到的三维点坐标计算车体的偏差信息;根据得到的偏差信息对车体进行在线实时纠偏,不断消除位姿偏差,将车体纠正道管道的中心线上。本发明克服了实际管道中缺乏道路信息以及无标志点机器车体无法进行直线行走的困难,检测速度快,可以实现实时导航控制,具有较高的检测精度
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Shenyang Institute of Automation,Chinese Academy Of Sciences
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Last time updated on 03/02/2019