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题名:
Binocular Stereo Vision Based Obstacle Detection Method for Manipulator
作者: Zhang XX(张晓雪); Liu, Qiang; Liu JG(刘金国); Zhang T(张天); Ni ZY(倪智宇)
作者部门: 空间自动化技术研究室
通讯作者: 刘金国
会议名称: International Conference on Electrical Engineering and Automation (ICEEA)
会议日期: December 18-19, 2016
会议地点: Xiamen, China
会议录: 2016 INTERNATIONAL CONFERENCE ON ELECTRICAL ENGINEERING AND AUTOMATION (ICEEA 2016)
会议录出版者: DESTECH PUBLICATIONS, INC
会议录出版地: LANCASTER
出版日期: 2016
收录类别: CPCI(ISTP)
ISSN号: 2475-885X
ISBN号: 978-1-60595-407-3
关键词: Binocular stereo vision ; Obstacle detection ; Manipulator
摘要: An obstacle detection method is proposed based on binocular stereo vision for manipulator. Firstly, images are preprocessed after camera calibration such as graying and distortion correction. Then, aiming at the defect that feature points are extracted mixed with many edge response points by traditional SIFT (Scale Invariant Feature Transform) algorithm, we propose wavelet transform to extract the edge points, and compare the edge points with feature points to further eliminate unstable feature points. Finally, the effectiveness of the algorithm is verified by obstacle detection and obstacle avoiding experiments. The results demonstrate that the improved SIFT algorithm can remove the edge responses that the DOG operator generates effectively, and improve the stability and anti-noise ability of SIFT algorithm compared with traditional SIFT algorithm.
语种: 英语
产权排序: 1
WOS记录号: WOS:000406674000073
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/20866
Appears in Collections:空间自动化技术研究室_会议论文

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Recommended Citation:
Zhang XX,Liu, Qiang,Liu JG,et al. Binocular Stereo Vision Based Obstacle Detection Method for Manipulator[C]. International Conference on Electrical Engineering and Automation (ICEEA). Xiamen, China. December 18-19, 2016.Binocular Stereo Vision Based Obstacle Detection Method for Manipulator.
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文件名: Binocular Stereo Vision Based Obstacle Detection Method for Manipulator.pdf
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