Image Perception System Of Tetrahedral Robot Based On Panoramic Camera

With the development of social economy and the advancement of science and technology,mankind's desire to explore the unknown world has become stronger.As one of the most important exploration tools,mobile robots have received widespread attention from researchers in various countries.The more mature types of mobile robots include wheeled robots,legged robots,crawler robots and spherical robots,each of which has its own advantages and disadvantages.In order to cope with the more complex terrain environment,the researchers launched a study on tetrahedral robots.Since the tetrahedral robot moves in the form of tumbling,the image acquisition method of the traditional robot is not suitable for the tetrahedral robot.In response to this problem,this paper proposes and designs a tetrahedral robot image perception system based on a panoramic camera.Next,the distortion correction algorithm of fisheye image is studied.An improved line scan method is proposed to effectively improve the accuracy of the effective area of??the fish-eye image;based on the perspective projection model,a local correction algorithm for the panoramic image is designed.This algorithm can perform distortion correction on the local part of the panoramic image and the corrected image It conforms to perspective relationship and human eye observation habits;based on the cylindrical projection model,a global correction algorithm for panoramic images is designed.This algorithm can perform distortion correction on the entire panoramic image.The corrected single image has a horizontal effective field of view exceeding 360 ° range.Then,combined with the SURF feature point extraction and matching algorithm,a fast panorama synthesis algorithm is proposed to improve the synthesis efficiency of the panorama.When the image resolution can meet the requirements,the speed of image synthesis can meet the requirements of real-time synthesis.Finally,the human-computer interaction system of the tetrahedral robot is designed.Through testing,it is proved that the image processing and display,initialization,movement control and information feedback of the human-machine interaction system can meet the design requirements.