【摘要】 H.264/AVC标准算法是目前最适合低速率下进行图像压缩传输的算法之一,但是帧内图像压缩编码后数据量依然比较大,对于网络机器人遥操作系统应用来说依然影响系统的实时性.结合基于网络的机器人遥操作系统中机器人控制的特点,文中对H.264/AVC标准算法中帧内编码提出了一种改进算法,即对于机器人本体部分图像采用帧内预测编码,而对背景部分图像采取帧间运动补偿编码.利用图像投影原理和机器人运动学方程,能够快速实现机器人部分视频对象分割,从而满足帧内编码改进算法的要求.更多还原

【Abstract】 <Abstrcat>H.264/AVC is one of the video coding standards which satisfies the application of low-bit compression and transmission. However, its huge data of intra-frame coding affects the real-time property of robot teleoperation. With the properties of robot manipulation control, a new optimization technique of intra-frame coding algorithm for the H.264/AVC standard is introduced for an internet-based robot teleoperation system.A motion compensation algorithm like that of inter-frame was applied for the background part of intra-frame optimi_zation of robot. The algorithm can quickly implement macroblock partition by a projection technique and the robot kinematical theory, which leads to satisfying the requirement of enhanced intra-frame coding algorithm.更多还原