TY - GEN
T1 - Three-dimensional reconstruction method based on target recognition for binocular humanoid robot
AU - Zhang, Junning
AU - Pan, Wei
AU - Shi, Haobin
AU - Zhang, Dong
AU - Li, Weihua
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2017/6/15
Y1 - 2017/6/15
N2 - According to the problems of the too many man-made specified parameters, huge computation and lower accuracy in complex target recognition and three-dimensional reconstruction of the target of the binocular humanoid robot, we put forward a new binocular robot target recognition and three-dimensional reconstruction method. This article is based on the basic principle of binocular vision. At first, binocular camera calibration uses the checkerboard calibration method; secondly, capturing images by binocular camera; thirdly, using Bayesian classifier to identify the target recognition; then, using improved SIFT algorithm to achieve feature point matching; furthermore, calculate the distance between a humanoid robot and the target based on the principle of triangulation; at last, build the target according to characteristics of the target by using three-dimensional reconstruction. The experiments demonstrate that this method reduce man-made specified parameters, and improve the efficiency of feature points matching, and the accuracy of the binocular distance measurement is higher, this method can effectively and reliably reach the goal of the three-dimensional reconstruction of the target ball.
AB - According to the problems of the too many man-made specified parameters, huge computation and lower accuracy in complex target recognition and three-dimensional reconstruction of the target of the binocular humanoid robot, we put forward a new binocular robot target recognition and three-dimensional reconstruction method. This article is based on the basic principle of binocular vision. At first, binocular camera calibration uses the checkerboard calibration method; secondly, capturing images by binocular camera; thirdly, using Bayesian classifier to identify the target recognition; then, using improved SIFT algorithm to achieve feature point matching; furthermore, calculate the distance between a humanoid robot and the target based on the principle of triangulation; at last, build the target according to characteristics of the target by using three-dimensional reconstruction. The experiments demonstrate that this method reduce man-made specified parameters, and improve the efficiency of feature points matching, and the accuracy of the binocular distance measurement is higher, this method can effectively and reliably reach the goal of the three-dimensional reconstruction of the target ball.
KW - Binocular humanoid robot
KW - Binocular vision
KW - Target recognition
KW - Three-dimensional reconstruction
UR - http://www.scopus.com/inward/record.url?scp=85024476506&partnerID=8YFLogxK
U2 - 10.1109/PIC.2016.7949525
DO - 10.1109/PIC.2016.7949525
M3 - 会议稿件
AN - SCOPUS:85024476506
T3 - PIC 2016 - Proceedings of the 2016 IEEE International Conference on Progress in Informatics and Computing
SP - 355
EP - 359
BT - PIC 2016 - Proceedings of the 2016 IEEE International Conference on Progress in Informatics and Computing
A2 - Wang, Yinglin
A2 - Sun, Yaoru
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 4th IEEE International Conference on Progress in Informatics and Computing, PIC 2016
Y2 - 23 December 2016 through 25 December 2016
ER -