Simulation and Application of Mobile Robot Vision Technology

Heru Suwoyo, Taufik Hidayat, Abdurohman Abdurohman, Minghao Yu
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Abstract

This paper will focus on the application of machine vision in mobile robots and take moving to the appropriate position and grasping the designated target as the task. This paper will describe and simulate the vision technology that mobile robots need to apply in the task process. This paper mainly uses the camera as the sensor. The difficulties of vision technology are mainly divided into three parts: scene depth information acquisition, positioning and mapping, and image processing. In order to obtain the depth information of the scene, this paper mainly introduces the depth information acquisition methods of monocular camera and binocular camera. In the aspect of localization and mapping, this paper mainly introduces the simulation of visual odometer to understand the basic process of mobile robot obtaining navigation map and its own route. Then, the gray gradient 2D maximum entropy algorithm is introduced to segment the scene and target, and extract features to judge the required target. Compared with other segmentation algorithms, the gray gradient 2D maximum entropy algorithm has higher segmentation accuracy, but the operation time is longer. This paper has simply optimized its operation efficiency. Finally, this paper describes the positioning method of grasping the object with a two degree of freedom manipulator using the knowledge of inverse kinematics. Because of the epidemic situation, schools cannot obtain experimental equipment. This paper mainly demonstrates the effectiveness of the algorithm through simulation.
移动机器人视觉技术的仿真与应用
本文将重点研究机器视觉在移动机器人中的应用,以移动到合适的位置并抓取指定的目标为任务。本文将描述和模拟移动机器人在任务过程中需要应用的视觉技术。本文主要采用摄像机作为传感器。视觉技术的难点主要分为场景深度信息获取、定位与测绘、图像处理三个部分。为了获取景物的深度信息,本文主要介绍了单目相机和双目相机的深度信息获取方法。在定位和制图方面,本文主要介绍了视觉里程计的仿真,了解移动机器人获取导航地图和自身路线的基本过程。然后,引入灰度梯度二维最大熵算法对场景和目标进行分割,提取特征来判断所需目标;与其他分割算法相比,灰度梯度2D最大熵算法具有更高的分割精度,但操作时间较长。本文对其运行效率进行了简单的优化。最后,利用逆运动学的知识,给出了二自由度机械手抓取物体的定位方法。由于疫情,学校无法获得实验设备。本文主要通过仿真验证了该算法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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