基于激光雷达回波信号的移动机器人低分辨率视觉识别系统
A low resolution visual recognition system for mobile robots based on lidar echo signal
李丹 1孙静晶1
作者信息
- 1. 河南理工大学鹤壁工程技术学院,河南鹤壁 458030
- 折叠
摘要
通过对移动机器人低分辨率视觉识别,实现对机器人作业过程中的视觉跟踪引导和实时控制,提出基于激光雷达回波信号的移动机器人低分辨率视觉识别方法.以发射的激光雷达回波信号作为移动机器人的视觉引导信号,提取激光雷达回波信号的测距参数,通过雷达回波检测和距离参数估计实现对机器人视觉跟踪过程中的定位检测和过程引导,结合低分辨的视觉增强方法,建立信号滤波和视觉导引信息增强模型,实现视觉识别算法优化设计.设计双目相机采集模块、视觉识别模块、视觉定位模块,在集成可编程逻辑环境下实现对机器人视觉识别系统优化设计.测试表明,设计的系统能有效实现对移动机器人的回波定位检测和视觉引导跟踪识别,视差较小,跟踪精度较高.
Abstract
A low resolution visual recognition method for mobile robots based on lidar echo signals is proposed to achieve visual tracking guidance and real-time control during the robot operation process through low resolution visual recognition.Using the emitted lidar echo signal as the visual guidance signal of the mobile robot,the ranging parame-ters of the lidar echo signal are extracted.Through radar echo detection and distance parameter estimation,the positio-ning detection and process guidance of the robot visual tracking process are achieved.Combined with low resolution visual enhancement methods,a signal filtering and visual guidance information enhancement model is established to optimize the design of visual recognition algorithms.Design a binocular camera acquisition module,visual recognition module,and visual positioning module to optimize the design of the robot visual recognition system in an integrated programmable logic environment.Tests have shown that the designed system can effectively achieve echo localization detection and visual guidance tracking recognition for mobile robots,with small parallax and high tracking accuracy.
关键词
激光雷达/回波信号/移动机器人/低分辨率/视觉识别Key words
lidar/echo signal/mobile robots/low resolution/visual recognition引用本文复制引用
基金项目
河南省自然科学基金(202300310059)
河南省科技攻关计划(212102210159)
出版年
2024
NETL
NSTL
万方数据