基于OpenCV的遥操作工程机器人双目视觉定位技术

Binocular vision positioning technology of teleoperation engineering robot based on OpenCV

摘要:

针对当前遥操作工程机器人双目视觉定位技术匹配精准度低，导致定位误差过大的问题，提出种基于OpenCV改进的遥操作工程机器人双目视觉定位技术。在分析HSV色彩空间后，建立适合工程机器人的颜色特征识别空间体系，通过分析图像特征及运动坐标确定圆形光点，利用提供的靶点目标，创建模板后通过双目视觉获取具有靶点特征的其他图像，将图像代入OpenCV技术函数库中。在OpenCV技术函数库中通过光流法对图像进行函数匹配，应用将目标的背景模型与图像的处理方式分割开来，提取背景与干扰因素的全部信息，利用二值化阈值处理运动目标的形态，实现无干扰图像显示，确保定位结果的准确性。实验结果表明，基于OpenCV的遥操作工程机器人双目视觉定位技术能够有效提高匹配精度，降低定位误差，具有一定的实际应用价值。

Abstract:

Aiming at the problem that the matching accuracy of the current binocular vision positioning technology of the teleoperation engineering robot is low, which leads to the positioning error is too large. After analyzing the HSV color space, a color feature recognition space system suitable for engineering robot is established. The circular light spot is determined by analyzing image features and motion coordinates. The template is created by using the provided target target, and other images with target feature are obtained by binocular vision, and the image is replaced into opencv technology function library. In the function library of OpenCV technology, the optical flow method is used to match the image. The background model of the target is separated from the image processing method. All the information of the background and interference factors are extracted. The binary threshold is used to process the shape of the moving object to realize the non-interference image display and ensure the accuracy of the positioning result. The experimental results show that the binocular vision positioning technology based on OpenCV can effectively improve the matching accuracy and reduce the positioning error, which has certain practical application value.