全向移动式家用服务机器人目标识别与视觉导向系统设计
毕业论文关键词 图像处理 机器视觉 目标识别 目标定位 双目视觉 Title Home Omnidirectional mobile service robot—— Object recognition and visual guidance system design Abstract With the development of aging population in our country, the social demand for service robots is growing, which leads the service robot research to extensity attention. In order to meet the requirements of the mobile robot in the home environment, this paper studies the target recognition and target localization technology based on computer vision. This article follows the current visual guide system based on PC platform, considering the shortcut of family environment, using DSP as the core of embedded binocular visual object recognition and localization scheme is established based on TMS320DM642 chip for image processor embedded hardware platform. Analyses the vision guidance system in the functional structure of the platform, processor TMS320DM642 inside resources and external interface, binocular camera, video modules are the core component. Based on this, the software function and the process of the binocular vision target recognition and guidance system are designed, and the features and application of the CCS software development and debug platform are introduced. The theory of image preprocessing and feature extraction is discussed, and the target recognition algorithm is proposed. The binocular vision positioning theory, stereo matching principle and binocular ranging method are studied, the binocular vision positioning algorithm is designed. Finally, the experiments show that the target recognition, positioning and location algorithm in this paper build of embedded software and hardware platform is feasible. Keywords Image processing Computer vision Object recognition Target location Binocular vision
目次
1 绪论 1
1.1 课题的研究背景及意义 . 1
1.2 家用服务机器人视觉系统研究现状 . 1
1.3 论文总体思路与内容安排 . 2
2 目标识别与视觉导向系统设计 4
2.1 系统分析及总体设计 . 4
2.2 硬件系统 . 6
2.3 软件系统 . 10
3 目标识别与定位理论及算法研究 12
3.1 目标识别理论 . 12
3.2 目标识别算法设计 . 15
3.3 目标定位理论 . 16
3.4 立体匹配理论 . 22