Water Strider Posture Estimation And Motion Characteristics Analysis Based On Binocular Visio

After billions of years of evolution,organisms have evolved the body structure and mode of movement that are most suitable for their living environment.Water striders rely on surface tension to float and glide on the water surface,possessing a lighter body shape than other surface insects.They are characterized by high efficiency,low noise,and minimal damage to the water surface.The biomimetic water strider robot imitates the trajectory of water striders to glide on the water surface,and can perform tasks such as water quality monitoring,water search,and military detection in the water area.The characteristic parameters of the paddling trajectory of a biomimetic water strider robot,such as shape and size,have a significant impact on the robot’s motion performance.Accurately simulating the water strider motion trajectory and studying the water strider motion characteristics can provide reference for improving the motion performance of the biomimetic water strider robot.For this purpose,this article establishes a binocular vision platform and conducts research on the motion posture of water striders,achieving accurate posture estimation,and conducting research on the motion characteristics of water striders.The specific research content of this article is as follows:Firstly,hardware selection was carried out and a binocular vision based water strider motion trajectory acquisition experimental platform was designed and built.We used Zhang Zhengyou’s calibration method for binocular calibration,obtained the internal and external parameters of two cameras,and determined the spatial position relationship between them.In response to the distortion problem in the image,geometric correction methods were used for distortion correction,and three-dimensional spatial point reconstruction was achieved by combining camera internal and external parameters.The calculated distance between the two points on the calibrated image after correction and the actual distance were calculated for error.By using industrial control software to control external input and output modules,high-speed external triggering of two cameras was achieved,and a large number of water strider sliding images were captured and stored,which were used as a dataset for attitude estimation.Then,in order to achieve accurate pose estimation of the water strider’s legs,a pose estimation method driven by a hybrid of physical constraints and neural networks was proposed based on the characteristics of the water strider’s leg joints.Firstly,a deep neural network learning method was used to achieve pre-estimation of mid leg posture.Then,based on the invariance of leg length during water strider movement,the pre-estimation results were optimized and corrected through neighborhood coordinate acquisition,homonymous point matching,and leg length calculation steps,achieving high-precision pose estimation of water striders.The optimized two-dimensional pose estimation results were used to achieve threedimensional pose estimation through binocular vision stereo reconstruction calculation,providing data for analyzing the motion characteristics of water striders.Finally,in order to analyze the motion characteristics of the actual water strider,a simulation method of water strider’s space motion track based on the Gaussian mixture regression model is proposed.First,the Gaussian mixture model is used to aggregate the water strider’s trajectory with time information,and then the trajectory is regressed according to the mean and covariance information obtained from the aggregated category.According to the Bayesian Information Criterion,the data of the best high-frequency model was determined,and the Gaussian mixture regression model of the water strider’s space motion trajectory was established.The study analyzed the whole of the mid-leg connection points with the ground as the reference system and the water strider’s body as the reference system,as well as the characteristic points of velocity and acceleration changes in all directions.The change analysis of the flexibility angle is carried out for the characteristic points of the middle leg end flexibility.The changing law of the included angle between the femoral segment and the fetal segment of the middle leg is analyzed.After the analysis of the above motion characteristics,it provides a reference for the design of the motion mechanism of the bionic water strider robot.