The Research About Robot's Path Planning Based On Three-dimensional Vision

With the continuous development of machine vision technology,three-dimensional vision has become a research hotspot in recent years.The current development situation of industrial robots is introduced firstly with fine interpretation of the machine vision research situations at home and abroad followed.In this paper,the three-dimensional vision locating model is built based on Tripod robot platform,the three-dimensional reconstruction is realized and the path planning is completed.The main work is divided into the following four aspects.1.Building the three-dimensional vision locating model.Based on traditional stereo camera calibration,a black and white checkerboard is used as the calibration plate.By taking 18 images by stereo cameras,the internal and external parameters are calculated with which the pixel's coordinates in the world coordinate system can be obtained through three-dimensional coordinate conversion.2.Target location and identification.After the perspective transformation and related pretreatment of gained images,the developed Level-set method is used for edge detection which can get the sealed edge of the targets in images.At last,Hough transform,physical gravity center calculation and side length difference method are used to identify the shapes of targets and the average RGB values in the neighborhood of target center are used to identify the colors of targets to complete the target location and identification job.3.Three-dimensional target location and reconstruction.Firstly the parameters calculated in the calibration part are used to regulate images,the SUSAN algorithm,Harris algorithm,FAST algorithm are used to extract the comer points and the SIFT algorithm,SURF algorithm,Census transform and SAD algorithm are used in stereo matching part.At last the coordinates of corner points in the world coordinate system are calculated and the three-dimensional reconstruction of the image is completed.4.Path planning based on two-dimensional coordinates.After consideration of real situation,the place method are determined by comparing the sum of distance between the same kind of targets and the Greedy algorithm is used to solve the path planning problem.