Research On Target Recognition For Robot Based On Binocular Vision

Binocular vision is an important symbol of intelligent robot.Binocular vision refers to the process of 3D reconstruction through the extraction,recognition,matching and other processes of two images gathered from a target.In this paper,a six axes industrial robot is used as the platform for binocular vision,the research focus on the method about recognition and guide the robot to pickup the target by binocular vision under specific working conditions.The main works as following were researched.Firstly,the camera was calibrated of the binocular vision system.The camera calibration is the key point of the robot vision system,it's purpose is to construct the relationship between the position of the target and the corresponding point in the image plane.In this paper,three methods of camera calibration are compared.The camera distortion model is proposed to improve the accuracy of camera calibration based on the analysis of the Tasi's and Zhang's calibration methods.Secondly,the image preprocessing was down of the target which reads by the computer.Image preprocessing main includes image grayscale,image enhancement and image smooth.Weighted value method for image grayscale,histogram equalization method for image enhancement and median filter method for image smooth were determined through the experimental comparison.Then,image extraction and image 3D reconstruction of the target were researched.In this paper,a wide range of existing image processing methods are studied and the most suitable image processing method was found.The Canny edge detection operator was used to extract edge information and segment the image of the target.The epipolar constraint theory and triangulation method are used to solve the depth information of the corresponding feature points,and the 3D reconstruction of the target is accomplished according to the dense 3D point cloud.At last,the test platform of robot binocular vision has been established with a XB6 industrial robot,CCD camera and image acquisition card.This system can grasp the target accurately by the method in the paper.