一种用于机器人避障的深度相机姿态自标定方法
陈锦龙, 杜江, 安成, 肖倩宏, 宋弦. 一种用于机器人避障的深度相机姿态自标定方法[J]. 光学与光电技术, 2019, 17(5): 30.
CHEN Jin-long, DU Jiang, AN Cheng, XIAO Qian-hong, SONG Xian. Depth Camera Pose Self-Calibration Method for Robot Obstacle Avoidance[J]. OPTICS & OPTOELECTRONIC TECHNOLOGY, 2019, 17(5): 30.
[1] 贾宇辉, 徐振宇, 王孝洪, 等. 基于S3C2440的电力线巡检机器人系统设计［J］. 电测与仪表, 2011, 48(5)：45-48.
JIA Yu-hui, XU Zhen-yu, WANG Xiao-hong, et al. Design of power line inspection robot system based on S3C2440［J］. Journal of Electric Measurement & Instrumentation, 2011, 48(5)： 45-48.
[2] 弋英民, 刘丁. 基于单目视觉的轮式机器人同步定位与地图构建［J］. 仪器仪表学报, 2010, 31(1)： 117-121.
GENG Ying-min, LIU Ding. Synchronous positioning and map construction of wheeled robot based on monocular vision［J］. Chinese Journal of Scientific Instrument, 2010, 31(1)： 117-121.
[3] Thrun S, Fox D, Burgard W. Probabilistic mapping of an environment by a mobile robot［C］//Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No. 98CH36146). IEEE, 1998, 2： 1546-1551.
[4] Konolige K, Fox D, Limketkai B, et al. Map merging for distributed robot navigation［C］//Proceedings 2003 IEEE/RSJ international conference on intelligent robots and systems (IROS 2003)(Cat. No. 03CH37453). IEEE, 2003, 1： 212-217.
[5] Thrun S, Burgard W, Fox D. A real-time algorithm for mobile robot mapping with applications to multi-robot and 3D mapping［C］//ICRA. 2000, 1： 321-328.
[6] 席志红, 原新, 许辉. 基于视觉的移动机器人实时避障和导航［J］. 哈尔滨工程大学学报, 2002, 23(5)： 107-109.
XI Zhi-hong, YUAN Xin, XU Hui. Vision-based real-time obstacle avoidance and navigation of mobile robots［J］. Journal of Harbin Engineering University, 2002, 23(5)： 107-109.
[7] 郭连朋, 陈向宁, 刘彬. Kinect传感器的彩色和深度相机标定［J］. 中国图象图形学报, 2014, 19(11)：1584-1590.
GUO Lian-peng, CHEN Xiang-ning, LIU Bin. Color and depth camera calibration of Kinect sensor［J］. Journal of Image and Graphics, 2014, 19(11)： 1584-1590.
[8] 孙士杰, 宋焕生, 张朝阳, 等. 点云下地平面检测的RGB-D相机外参自动标定［J］. 中国图象图形学报, 2018, (6)： 5-8.
SUN Shi-jie, SONG Huan-sheng, ZHANG Chao-yang, et al. Automatic calibration of external parameters of RGB-D camera under ground level detection in point cloud［J］. Journal of Image and Graphics, 2018, (6)： 5-8.
[9] Zhang Z. A flexible new technique for camera calibration［J］. Pattern Analysis and Machine Intelligence, IEEE Transactions on, 2000, 22(11)： 1330-1334.
[10] Hirschmuller H. Stereo Processing by semiglobal matching and mutual information［J］. IEEE Transactions on Pattern Analysis & Machine Intelligence, 2007, 30(2)：328-341.
[11] Zhang Hui. Research on the key techniques and system of binocular stereo measurement based on random illumination［D］. Nanjing University of aeronautics and astronautics, 2008. DOI：10.7666/d.d076149.
陈锦龙, 杜江, 安成, 肖倩宏, 宋弦. 一种用于机器人避障的深度相机姿态自标定方法[J]. 光学与光电技术, 2019, 17(5): 30. CHEN Jin-long, DU Jiang, AN Cheng, XIAO Qian-hong, SONG Xian. Depth Camera Pose Self-Calibration Method for Robot Obstacle Avoidance[J]. OPTICS & OPTOELECTRONIC TECHNOLOGY, 2019, 17(5): 30.
PDF全文
