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基于双眼视觉的高精度无人机目标定位系统(CS CV)

在工作过程中,无人驾驶车辆常常需要高精度地定位目标。在无人材料搬运车间中,无人车辆需要对工件进行高精度的姿态估计以准确地抓住工件。在此背景下,本文提出了一种基于双眼视觉的高精度无人机目标定位系统。该系统使用基于区域的立体匹配算法来获得视差图,并使用RANSAC算法来提取位置和姿势特征,从而实现了对六自由度圆柱形工件的位置和姿态的估计。为了验证系统的效果,本文收集了不同姿势下圆柱输出结果的准确性和计算时间。

原文题目:High-precision target positioning system for unmanned vehicles based on binocular vision

原文:Unmanned vehicles often need to locate targets with high precision during work. In the unmanned material handling workshop, the unmanned vehicle needs to perform high-precision pose estimation of the workpiece to accurately grasp the workpiece. In this context, this paper proposes a high-precision unmanned vehicle target positioning system based on binocular vision. The system uses a region-based stereo matching algorithm to obtain a disparity map, and uses the RANSAC algorithm to extract position and posture features, which achives the estimation of the position and attitude of a six-degree-of-freedom cylindrical workpiece. In order to verify the effect of the system, this paper collects the accuracy and calculation time of the output results of the cylinder in different poses. The experimental data shows that the position accuracy of the system is 0.61~1.17mm and the angular accuracy is 1.95~5.13°, which can achieve better high-precision positioning effect.

原文作者:Xianqi He, Zirui Li, Xufeng Yin, Jianwei Gong, Cheng Gong

原文地址:https://arxiv.org/abs/2009.08040

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