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基于运动视差的三维重建技术在自导引小车中的应用

  

  1. 1. 中国科学院上海高等研究院，上海 201210；2. 中国科学院大学，北京 100049；
    3. 哈尔滨工业大学(威海)信息与电气工程学院，山东 威海 264209
  • 出版日期:2017-08-31 发布日期:2017-08-10

The Application of Three-Dimensional Reconstruction Technique Based on Motion Parallax in AGV

  1. 1. Shanghai Advanced Research Institute, Chinese Academy of Sciences, Shanghai 201210, China;
    2. University of Chinese Academy of Sciences, Beijing 100049, China;
    3. School of Information & Electrical Engineering, Harbin Institute of Technology (Weihai), Weihai Shandong 264209, China
  • Online:2017-08-31 Published:2017-08-10

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摘要： 通过一定的几何运算阐述基于单目摄像头的条件下如何用运动视差的原理对前方
景象实现三维重建，提出该重建技术在室内自导引小车上进行识障、避障过程的应用。对摄像
头传回的实时图像进行分割从而划分出可行区域的传统方案进行了改进，使运算得到的障碍物
信息更具真实性。试验结果表明，所提方案具有较强的可操作性，增强了室内自导引小车在单
目摄像头条件下的障碍物检测能力，对不同真实场景具有良好的鲁棒性。

关键词: 运动视差, 三维重建, 自导引小车, 障碍物检测

Abstract: The principle of motion parallax is used for achieving the three-dimensional reconstruction
of scenes ahead with a single camera, and this process is expounded in detail by some geometric
operations. The application of the reconstruction in indoor automatic guided vehicle (AGV) about
processes of obstacle detection is researched. The traditional solution using some algorithms to divide
the real-time image passed back by the camera into some accessible areas is improved to make obstacle
information been of more authenticity and actual calculated meaning. Experimental results indicate that
the proposed solution is of strong operability and enhances the obstacle detection ability of indoor AGV
under the condition of a single camera, and has good robustness in different real environments.

Key words: motion parallax, three-dimensional reconstruction, automatic guided vehicle, obstacle
detection