本文選題：乒乓球機(jī)器人　切入點(diǎn)：視覺系統(tǒng)　出處：《山東大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：飛行物的識(shí)別與跟蹤在國(guó)防、航空航天、工業(yè)與服務(wù)業(yè)等領(lǐng)域均具有重大的研究?jī)r(jià)值與應(yīng)用價(jià)值,其中涉及到的實(shí)時(shí)視覺感知技術(shù)也是機(jī)器人的關(guān)鍵技術(shù)。本文以乒乓球機(jī)器人為研究平臺(tái),以飛速運(yùn)動(dòng)的乒乓球?yàn)檠芯繉?duì)象,重點(diǎn)開展乒乓球機(jī)器人高速實(shí)時(shí)視覺技術(shù)的研究。在總結(jié)前人系統(tǒng)與技術(shù)的基礎(chǔ)上,本文的主要研究?jī)?nèi)容包括:1、從攝像機(jī)的選型、立體視覺方案的選擇與高速采集方案的設(shè)計(jì)三個(gè)方面詳細(xì)介紹了高速彩色雙目立體視覺系統(tǒng)搭建的過程。從輸出信號(hào)、輸出接口與相機(jī)芯片三個(gè)不同的方面進(jìn)行對(duì)比,發(fā)現(xiàn)由CMOS感光芯片制作的USB3.0工業(yè)相機(jī)更具有優(yōu)勢(shì)。然后從性價(jià)比方面考量了多家廠商的不同型號(hào)的工業(yè)相機(jī),最終選擇Balser公司的aca1920-155uc型號(hào)的工業(yè)相機(jī)。通過對(duì)比單目、雙目與多目視覺系統(tǒng),雙目視覺系統(tǒng)在此場(chǎng)景中是最優(yōu)的選擇。在分析通用采集方案的基礎(chǔ)上,對(duì)原有采集方案進(jìn)行改進(jìn),得到一種可以滿足實(shí)時(shí)性與同步性要求的高速采集方案。最終搭建的系統(tǒng)視野范圍覆蓋整個(gè)乒乓球桌,可以實(shí)現(xiàn)對(duì)高速飛行的乒乓球運(yùn)動(dòng)軌跡的高速采集。2、在雙目視覺系統(tǒng)標(biāo)定方面,根據(jù)張正友平面標(biāo)定原理,結(jié)合Matlab標(biāo)定工具箱,分別對(duì)左右攝像機(jī)的焦距、主點(diǎn)構(gòu)成的內(nèi)參數(shù)和旋轉(zhuǎn)矩陣、平移矩陣構(gòu)成的外參數(shù)進(jìn)行標(biāo)定。此方法降低了標(biāo)定誤差,提高了檢測(cè)精度,完全滿足雙目立體視覺系統(tǒng)的需求。3、詳細(xì)介紹了平行雙目視覺模型、三角測(cè)距與立體校正Bouguet算法,在此基礎(chǔ)上描述了目標(biāo)深度信息的計(jì)算過程。4、根據(jù)乒乓球的固有特點(diǎn)與乒乓球運(yùn)動(dòng)背景不變的特點(diǎn),通過對(duì)比基于顏色的分割算法、幀差法與背景減除法,發(fā)現(xiàn)背景減除法作為目標(biāo)區(qū)域初次分割算法表現(xiàn)最佳。為了提高檢測(cè)精度,對(duì)初次分割的目標(biāo)區(qū)域進(jìn)行開閉運(yùn)算和Canny算子邊緣檢測(cè)操作。根據(jù)乒乓球固有的特征,采用隨機(jī)霍夫圓變換對(duì)目標(biāo)物體進(jìn)行識(shí)別,得到目標(biāo)中心位置。為了提高跟蹤的實(shí)時(shí)性,提出了基于上一幀目標(biāo)局部區(qū)域搜索算法。最終實(shí)現(xiàn)了高速飛行的乒乓球三維位置空間的實(shí)時(shí)檢測(cè)與跟蹤。最后,實(shí)驗(yàn)驗(yàn)證了本文所提出的目標(biāo)識(shí)別與跟蹤算法的正確性與快速性,并進(jìn)行了總結(jié)與展望。
[Abstract]:The identification and tracking of flying objects have great research value and application value in the fields of national defense, aerospace, industry and service industry, etc. The real-time visual perception technology involved is also the key technology of robot. This paper takes the table tennis robot as the research platform and the fast moving table tennis as the research object. On the basis of summarizing the previous systems and technologies, the main research contents of this paper include: 1, from the selection of camera, This paper introduces in detail the process of setting up a high speed color binocular stereo vision system from three aspects: the selection of stereo vision scheme and the design of high speed acquisition scheme. The output signal, output interface and camera chip are compared in three different aspects, such as the output signal, the output interface and the camera chip. It is found that the USB3.0 industrial camera made by CMOS photosensitive chip has more advantages. Then, from the aspect of performance and price ratio, we consider different models of industrial cameras from many manufacturers, and finally choose the industrial camera of aca1920-155uc model of Balser Company. Binocular vision system and multi-eye vision system, binocular vision system is the best choice in this scene. Based on the analysis of the general collection scheme, the original collection scheme is improved. A high speed acquisition scheme which can meet the requirements of real-time and synchronism is obtained. Finally, the whole table tennis table is covered by the system visual field. In the aspect of calibration of binocular vision system, according to the calibration principle of Zhang Zhengyou plane, combined with Matlab calibration toolbox, the focal length of left and right cameras can be achieved. The inner parameters and rotation matrix of the main points and the external parameters of the translation matrix are calibrated. This method reduces the calibration error and improves the detection accuracy. Fully meet the requirements of binocular stereo vision system. The parallel binocular vision model, triangulation and stereo correction Bouguet algorithm are introduced in detail. On this basis, the calculation process of target depth information is described. According to the inherent characteristics of table tennis and the invariant characteristics of table tennis movement background, the color-based segmentation algorithm, frame difference method and background subtraction method are compared. It is found that the background subtraction algorithm performs best as the initial segmentation algorithm of target area. In order to improve the detection accuracy, the opening and closing operations and the Canny operator edge detection operation are carried out for the initial segmentation of the target region. According to the inherent characteristics of table tennis, In order to improve the real-time tracking, the target center position is obtained by using random Hough circle transform to identify the target object. A local region search algorithm based on the previous frame is proposed. Finally, the real-time detection and tracking of the high speed flight table tennis 3D position space is realized. Finally, Experiments verify the correctness and rapidity of the proposed target recognition and tracking algorithm.
【學(xué)位授予單位】：山東大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP391.41;TP242

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本文編號(hào)：1590728