期刊论文

Visual Navigation and Feature Recognition Method of Robot Based on Dynamic Double Windows

中文

计算机工程

1000-3428

2020

46

9

313-320

10.19678/j.issn.1000-3428.0055581

国家自然科学基金(61473049) 湖南省研究生科研创新项目(CX20190682)。

本校为第一机构

针对变电站巡检机器人导航精度低与巡检点识别鲁棒性差的问题,提出一种采用动态双窗口的视觉导航与路径特征识别方法。根据导航图像匹配结果和相机位姿偏差动态设置导航窗口,将图像由传统的红绿蓝颜色空间转换为色调、饱和度和亮度颜色空间进行灰度图重构,利用分区自适应阈值分割算法提取导航路径并将其简化为直线模型,使用最小二乘法拟合计算出机器人与导航路径的距离偏差,同时将全视野范围作为特征识别窗口,根据路径长宽比改进基于区域建议的Faster R-CNN算法,最终完成对5种路径特征的识别。实验结果表明,在强光照和弱光照条件下,该方法所得巡检机器人的直线跟踪与曲线跟踪偏差分别小于5 mm和...

To address the problems of low navigation accuracy and poor robustness of inspection point recognition of substation inspection robots,this paper proposes a visual navigation and path feature recognition method based on dynamic double windows. According to the navigation image matching results and camera pose deviation,the navigation window is dynamically set, and the color space of the image is transformed from the traditional Red,Green and Blue(RGB) color space into the Hue,Saturation and Value (HSV) color space for gray image reconstruction. The navigation path is extracted by using the par...