Space Coordinate Calculation and Attitude Estimation Based on Binocular Stereo Vision

HUANG Qingdan; HE Binbin; SONG Haoyong; RAO Rui; ZHAO Baoyu; WANG Guoku

doi:10.6054/j.jscnun.2020020

Journal of South China Normal University (Natural Science Edition) > 2020 > 52(2): 9-13. > DOI: 10.6054/j.jscnun.2020020

HUANG Qingdan, HE Binbin, SONG Haoyong, RAO Rui, ZHAO Baoyu, WANG Guoku. Space Coordinate Calculation and Attitude Estimation Based on Binocular Stereo Vision[J]. Journal of South China Normal University (Natural Science Edition), 2020, 52(2): 9-13. DOI: 10.6054/j.jscnun.2020020

Citation:

PDF (1893 KB)

Space Coordinate Calculation and Attitude Estimation Based on Binocular Stereo Vision

1.
Key Laboratory of Middle Pressure Electric Accessory Quality Inspection, China Southern Power Grid//Electrical Power Test and Research Institute of Guangzhou Power Supply Bureau, Guangzhou 510000, China
2.
Henan Zhongfen Instrument Co. Ltd., Zhengzhou 45000, China

More Information

Received Date: August 28, 2019
Available Online: March 21, 2021

Graphical Abstract

Abstract

Abstract

The target space coordinate calculation and attitude estimation method based on binocular stereo vision, binocular stereo vision system calibration and binocular vision system calibration technology is used to construct the correspondence between the spatial coordinates of the target in the 3D scene and the pixel coordinates of the midpoint of the image. The target image is acquired through the binocular stereo vision system, and then the three-dimensional coordinates of the target midpoint are calculated with the semi-global stereo matching (SGBM) method. The target contour is obtained with the background difference method, and then the rotation angle of the target in the horizontal plane is obtained. The coordinate position indicated by the focus indicates the target posture information. The attitude estimation and the test of power meter are verified with the method proposed above. The experimental results show that the designed method can complete the space coordinate calculation and attitude estimation of power meter. It can realize the accurate grasp motion of the power instrument and provide reference for the application of robot in the field of artificial intelligence of power system.
- machine vision,
- binocular stereo vision,
- stereo matching,
- coordinate calculation,
- attitude estimation,
- background subtraction

FullText(HTML)

References (16)

References

[1]	SOVOBODA T, KYBIC J, HLAVAC V. Image processing, analysis & and machine vision-a MATLAB companion[M]. New York:Thomson Learning, 2008.
[2]	PENG J, XU W, HAN Y. An efficient pose measurement method of a space non-cooperative target based on stereo vision[J]. IEEE Access, 2017, 5:22344-22362. doi: 10.1109/ACCESS.2017.2759798
[3]	贾丙西, 刘山, 张凯祥, 等.机器人视觉伺服研究进展:视觉系统与控制策略[J].自动化学报, 2015, 41(5):861-873. http://d.old.wanfangdata.com.cn/Periodical/jqr200403019 JIA B X, LIU S, ZHANG K X, et al. Survey on robot visual servo control:vision system and control strategies[J]. Acta Automatica Sinica, 2015, 41(5):861-873. http://d.old.wanfangdata.com.cn/Periodical/jqr200403019
[4]	周芳.双目视觉中立体匹配算法的研究与实现[D].大连: 大连理工大学, 2013. ZHOU F. Research on stereo matching in binocular vision and its implementation[D]. Dalian: Dalian University of Technology, 2013.
[5]	PENG J, XU W, LIANG B, et al. Pose measurement and motion estimation of space non-cooperative targets based on laser radar and stereo-vision fusion[J]. IEEE Sensors Journal, 2019, 19(8):3008-3019. doi: 10.1109/JSEN.2018.2889469
[6]	ZHANG Q, WANG Y, WANG L. Registration of images with affine geometric distortion based on maximally stable extremal regions and phase congruency[J]. Image & Vision Computing, 2015, 36:23-39. http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=0876fd97b03e1e3f1a3523afe8b5400d
[7]	蔡晓妍, 戴冠中, 杨黎斌.一种快速的单模式匹配算法[J].计算机应用研究, 2008, 25(1):45-46;81. doi: 10.3969/j.issn.1001-3695.2008.01.011 CAI X Y, DAI G Z, YANG L B. Faster algorithm for single pattern matching[J]. Application Research of Computers, 2008, 25(1):45-46;81. doi: 10.3969/j.issn.1001-3695.2008.01.011
[8]	GOLDBERG S B, MAIMONE M W, MATTHIES L. Stereo vision and rover navigation software for planetary exploration[C]//2002 IEEE Aerospace Conference Proceedings. Montana: IEEE, 2002.
[9]	TSAI R Y. A versatile camera calibration technique for high-accuracy 3d machine vision metrology using off-the-shelf TV cameras and lenses[J]. IEEE Journal of Robotics and Automation, 1987, 3(4):323-344. doi: 10.1109/JRA.1987.1087109
[10]	ZHANG Z. A flexible new technique for camera calibration[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2000, 22(11):1330-1334. doi: 10.1109/34.888718
[11]	李小文.利用拉普拉斯-高斯模板进行边缘检测[J].华南师范大学学报(自然科学版), 1997(2):53-55. http://journal-n.scnu.edu.cn/article/id/1686 LI X W. Edge detection using Laplacian-of-Gaussian masks[J]. Journal of South China Normal University (Natural Science Edition), 1997(2):53-55. http://journal-n.scnu.edu.cn/article/id/1686
[12]	倪爱伟.基于双目立体视觉的三维定位技术研究[D].南京: 南京航空航天大学, 2009. NI A W. Study on three dimension reconstruction technique based on stereo vision[D]. Nanjing: Nanjing University of Aeronautics and Astronautics, 2009.
[13]	李胜利.基于双目立体视觉的工件识别与定位技术研究[D].哈尔滨: 哈尔滨工业大学, 2016. LI S L. Research on workpiece recognition and location technology based on binocular stereo vision[D]. Harbin: Harbin Institute of Technology, 2016.
[14]	OKADA K, INABA M, INOUE H. Integration of real-time binocular stereo vision and whole body information for dynamic walking navigation of humanoid robot[C]//Proceedings of IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI2003. Piscataway: IEEE, 2003.
[15]	何佳唯.基于双目视觉的机器人定位技术研究[D].无锡: 江南大学, 2016. HE J W. Research of robot positioning technology[D]. Wuxi: Jiangnan University, 2016.
[16]	ZENG Z, YAN H. Region matching and optimal matching pair theorem[C]//International Conference on Computer Graphics. Piscataway: IEEE, 2001.

Cited By

Cited by

Periodical cited type(16)

1.	魏保龙，王霏. 基于嵌入式立体视觉的智能机器人障碍检测方法. 宜春学院学报. 2024(03): 24-28 .
2.	孙静，刘晓燕. 基于双目立体视觉和轻量化神经网络的交通标志分割和识别. 微型电脑应用. 2024(06): 38-41 .
3.	刘桐伯，景文博，熊泽宇，吴雪妮，夏璇. 宽基线立体视觉远距离目标位姿测量. 长春理工大学学报(自然科学版). 2024(03): 37-44 .
4.	丁亚琼，贾寒光，万凯. 基于自适应机器学习的视觉机械臂控制方法. 华南师范大学学报(自然科学版). 2024(03): 50-57 .
5.	郭海欣，高子博，张晨曦，康竞然，杨贵林. 基于三维视觉技术的相机标定及三维坐标提取. 科技与创新. 2023(14): 1-7+11 .
6.	崔凯. 煤矿主煤流自动传输系统智能视觉监控设备的设计与实现. 自动化技术与应用. 2023(08): 137-140 .
7.	朱兴帅，叶彬，姚康，丁上上，徐道亮，付威威. 基于深度学习的交互笔关键点估计研究. 计算机工程. 2023(10): 22-30 .
8.	金何. 基于立体视觉匹配的采摘机器人目标定位方法. 齐齐哈尔大学学报(自然科学版). 2023(06): 47-52 .
9.	朱小超，张磊，解秦虎，黄莺，崔悦. 双目视觉和机器学习的拆回电能表微颗粒清洗系统. 西安工程大学学报. 2022(02): 49-55 .
10.	赵建敏，关晓鹏. 基于双目深度估计的牛体尺测量方法设计. 光电子·激光. 2022(04): 429-435 .
11.	陈从平，姚威，王钦. 面向低纹理工件的识别与位姿估计方法研究. 传感器与微系统. 2022(10): 43-46 .
12.	刘亮. 基于姿态估计的健身操运动员训练动作自动检测系统. 自动化与仪器仪表. 2021(03): 119-122 .
13.	冀将，孟立凡. 基于双目视觉的障碍物识别研究. 电子设计工程. 2021(06): 60-64 .
14.	杨光义，林欣，厉杰，吴啸宇. 非接触式婴幼儿身高测量系统设计. 实验技术与管理. 2021(04): 66-70+75 .
15.	李丹，汪元礼. 双目测距在Android人机交互平台上的实现. 安徽工业大学学报(自然科学版). 2021(03): 305-310+331 .
16.	张海国，崔志亮，杨豪，曹苏群. 无人液体配比实验室. 机械工程师. 2021(11): 119-121 .

Other cited types(20)

Get Citation

PDF

XML

Article views (4324) PDF downloads (217) Cited by(36)

Turn off MathJax

Article Contents

Abstract

References

Space Coordinate Calculation and Attitude Estimation Based on Binocular Stereo Vision

Abstract

References

Cited by

Periodical cited type(16)

Other cited types(20)

Catalog

Export File

Citation

Format

Content