【作者】 方宝富； 潘启树； 洪炳熔； 王伟光；

【Author】 Fang Bao-fu1,2 Pan Qi-shu1 Hong Bin-rong1 Wang Wei-guang1

【机构】 哈尔滨工业大学计算机科学与技术学院； 合肥工业大学计算机与信息学院；

【摘要】 通过摄像机来识别环境信息是机器人获得周围信息的一个重要手段,而基于颜色特征的目标定位在很多领域有着重要的意义。本文提出了一种基于彩色图像的目标定位算法,首先是基于改进的颜色阈值进行图像的分割,从而识别不同颜色的目标。在此基础上分别对前项单目视觉和全维视觉图像进行目标定位,通过kalman滤波算法,实现二者的信息融合,从而得到更加准确的目标位置信息。实验结果表明基于此算法可以弥补中远距离的目标信息的准确度,即验证了本算法是可行且有效的。更多还原

【Abstract】 It is an important method that robot gets its environment information by camera,and Localization based on Color characters is very significative.An object Localization arithmetic based on color image is proposed.Firstly,Image segmentation method based on improved color threshold is proposed to identify the different color Objects.And then,the robot deal with two source image information from monocular vision and omni-direction vision based on such method to get the object location.Finally,an information fusion method based on kalman filter is put forward to fuse the two source Location variable to get exacter localization.Experiments show that the fusion arithmetic is feasible and valid and robot can get exact object localization of medium and long distance.更多还原