半导体光电, 2019, 40 (2): 266, 网络出版: 2019-05-05
面向小型机器人的超大视场红外立体视觉可行性分析
Analysis on Feasibility of Infrared Ultrawide FOV Binocular Vision for Small Robots
摘要
小型机器人传统视觉方法对环境适应性差。提出了一种基于双目超大视场红外相机的环境感知方法。利用大视场镜头高阶奇次多项式模型, 建立了超大视场红外双目立体成像的水平和垂直视差数字模型。以视差模型为基础建立超大视场红外双目视觉模型, 研究了超大视场红外双目系统立体视觉范围和阈值。搭建了视场为170°×128°的超大视场红外立体视觉系统, 分析了立体视觉范围及阈值应用于小型机器人视觉的可行性。同时, 针对照度不均、雾霾等条件下的场景开展超大视场红外双目立体视觉实验研究, 构建了双目图像标准视差图, 结果表明, 超大视场红外双目立体视觉系统对复杂场景具有良好的适应性, 基本能够满足小型机器人视觉系统需求。
Abstract
To overcome such defects as poor environmental adaptability of traditional machine vision, a kind of environmental perception method based on binocular infrared ultrawide field of view (FOV) camera was proposed. Horizontal and vertical models for ultrawide FOV binocular infrared imaging were established by using high order polynomial model. Stereo vision range and threshold were researched on the basis of parallax model. Infrared ultrawide FOV binocular stereo vision system with the vision field of 170°×128° was established. Stereo vision experiments were carried out under different conditions, such as uneven illumination, smog, etc. Subjective and objective evaluation shows that infrared ultrawide FOV binocular stereo vision system has good applicability to complex scenes and is able to realize 3D depth perception of the infrared ultrawide FOV, which basically meets the requirements of small robot vision system.
陈一超, 刘秉琦, 黄富瑜. 面向小型机器人的超大视场红外立体视觉可行性分析[J]. 半导体光电, 2019, 40(2): 266. CHEN Yichao, LIU Bingqi, HUANG Fuyu. Analysis on Feasibility of Infrared Ultrawide FOV Binocular Vision for Small Robots[J]. Semiconductor Optoelectronics, 2019, 40(2): 266.