移动机器人的实时相位立体声

T. Frohlinghaus, J. Buhmann
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引用次数: 13

摘要

移动机器人的性能关键取决于其传感器解释的准确性、持续时间和可靠性。信息的主要来源是ccd摄像机,它提供了机器人环境的详细视图。本文介绍了在德国波恩大学的移动机器人RHINO上实现的实时立体视觉算法。该算法利用小波滤波图像对的相位进行边缘定位,并以亚像素精度估计其差值。差值是通过在给定区间内对相应点的初始搜索和随后的相位差测量来计算的。通过在流水线计算机Datacube上部分实现立体算法,实现了自主目标检测和导航的实时性约束。在真实场景下的实验结果证明了该算法的鲁棒性和适用性。
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Real-time phase-based stereo for a mobile robot
The performance of a mobile robot crucially depends on the accuracy, duration and reliability of its sensor interpretation. A major source of information are CCD-cameras which provide a detailed view of the robot's environment. This paper presents a real-time stereo algorithm implemented on the mobile robot RHINO of the University of Bonn. The algorithm exploit the phases of wavelet-filtered image pairs to localize edges and to estimate their disparities with subpixel accuracy. The disparities are computed by an initial search for corresponding points within a given interval and a subsequent measurement of phase-differences. The real-time constraints of autonomous object detection and navigation are fulfilled by partially implementing the stereo algorithm on a pipeline computer Datacube. Experimental results on real world scenes under real world conditions demonstrate the stereo algorithm's robustness and suitability for autonomous robot applications.
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