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Learning Hand Latent Features for Unsupervised 3D Hand Pose Estimation 预览
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作者 Jamal Banzi Isack Bulugu Zhongfu Ye 《自主智能(英文)》 2019年第1期1-10,共10页
Recent hand pose estimation methods require large numbers of annotated training data to extract the dynamic information from a hand representation.Nevertheless,precise and dense annotation on the real data is difficul... Recent hand pose estimation methods require large numbers of annotated training data to extract the dynamic information from a hand representation.Nevertheless,precise and dense annotation on the real data is difficult to come by and the amount of information passed to the training algorithm is significantly higher.This paper presents an approach to developing a hand pose estimation system which can accurately regress a 3D pose in an unsupervised manner.The whole process is performed in three stages.Firstly,the hand is modelled by a novel latent tree dependency model (LTDM) which transforms internal joints location to an explicit representation.Secondly,we perform predictive coding of image sequences of hand poses in order to capture latent features underlying a given image without supervision.A mapping is then performed between an image depth and a generated representation.Thirdly,the hand joints are regressed using convolutional neural networks to finally estimate the latent pose given some depth map.Finally,an unsupervised error term which is a part of the recurrent architecture ensures smooth estimation of the final pose.To demonstrate the performance of the proposed system,a complete experiment was conducted on three challenging public datasets,ICVL,MSRA,and NYU.The empirical results show the significant performance of our method which is comparable or better than the state-of-the-art approaches. 展开更多
关键词 HAND Pose Estimation Convolutional NEURAL NETWORKS Recurrent NEURAL NETWORKS HUMAN-MACHINE Interaction Predictive Coding UNSUPERVISED LEARNING
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Deep Learning Based 2D Human Pose Estimation:A Survey
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作者 Qi Dang Jianqin Yin +1 位作者 Bin Wang Wenqing Zheng 《清华大学学报自然科学版(英文版)》 EI CAS CSCD 2019年第6期663-676,共14页
Human pose estimation has received significant attention recently due to its various applications in the real world. As the performance of the state-of-the-art human pose estimation methods can be improved by deep lea... Human pose estimation has received significant attention recently due to its various applications in the real world. As the performance of the state-of-the-art human pose estimation methods can be improved by deep learning, this paper presents a comprehensive survey of deep learning based human pose estimation methods and analyzes the methodologies employed. We summarize and discuss recent works with a methodologybased taxonomy. Single-person and multi-person pipelines are first reviewed separately. Then, the deep learning techniques applied in these pipelines are compared and analyzed. The datasets and metrics used in this task are also discussed and compared. The aim of this survey is to make every step in the estimation pipelines interpretable and to provide readers a readily comprehensible explanation. Moreover, the unsolved problems and challenges for future research are discussed. 展开更多
关键词 human POSE ESTIMATION DEEP learning COMPUTER VISION
Docking navigation method for UAV autonomous aerial refueling
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作者 Delin LUO Jiang SHAO +1 位作者 Yang XU Jinpeng ZHANG 《中国科学:信息科学(英文版)》 SCIE EI CSCD 2019年第1期25-40,共16页
In this paper,a docking navigation method for autonomous aerial refueling(AAR)of unmanned aerial vehicles(UAVs)based on a binocular vision system(BVS)is proposed.A BVS simulation platform is built for simulation resea... In this paper,a docking navigation method for autonomous aerial refueling(AAR)of unmanned aerial vehicles(UAVs)based on a binocular vision system(BVS)is proposed.A BVS simulation platform is built for simulation research purposes.First,unnecessary scene information in the image is filtered through green light-emitting diodes(LEDs)and filters.Then the image is processed via graying,binarization,and median filtering to highlight the connected area of the LED in the image.Subsequently,the center of mass of the connected area is selected as the feature point(FP),and the FPs are described using an improved Haar wavelet transform.The multidimensional description vector of FP is obtained and matched.Finally,the position and pose of the refueling cone sleeve are estimated.Simulation results show the effectiveness of the presented AAR navigation method. 展开更多
关键词 autonomous aerial REFUELING AAR position and POSE estimation improved HAAR wavelet trans-form IHWT BINOCULAR vision system BVS BVS simulation platform
3D智能传感器的工件位姿获取方法研究 预览
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作者 苏波 郑孟州 《自动化仪表》 CAS 2019年第5期53-56,共4页
针对传统的机器视觉系统在获取工件位姿的工业应用过程中,相机对现场光照和其他环境条件要求苛刻等一系列问题,设计了一种基于3D智能传感器的工件位姿获取系统。该系统以3D智能传感器和运动平台为基础,配合使用专业的视觉软件HALCON。... 针对传统的机器视觉系统在获取工件位姿的工业应用过程中,相机对现场光照和其他环境条件要求苛刻等一系列问题,设计了一种基于3D智能传感器的工件位姿获取系统。该系统以3D智能传感器和运动平台为基础,配合使用专业的视觉软件HALCON。系统使用上位机控制3D智能传感和运动平台工件获取三维点云数据,利用软件构建工件的3D模型和3D表面模型,并通过3D表面匹配技术获取工件的位姿。系统运行试验表明,该方法不仅可以显著提升系统的抗干扰能力,而且操作简便、稳定性好、精度高,具有一定的工业应用价值。 展开更多
关键词 3D智能传感器 HALCON 位姿 点云 表面匹配 工业现场 机器视觉
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Real-Time Avatar Pose Transfer and Motion Generation Using Locally Encoded Laplacian Offsets
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作者 Masoud Zadghorban Lifkooee Celong Liu +2 位作者 Yongqing Liang Yimin Zhu Xin Li 《计算机科学技术学报:英文版》 SCIE EI CSCD 2019年第2期256-271,共16页
We propose a human avatar representation scheme based on intrinsic coordinates,which are invariant to isometry and insensitive to human pose changes,and an efficient pose transfer algorithm that can utilize this repre... We propose a human avatar representation scheme based on intrinsic coordinates,which are invariant to isometry and insensitive to human pose changes,and an efficient pose transfer algorithm that can utilize this representation to reconstruct a human body geometry following a given pose.Such a pose transfer algorithm can be used to control the movement of an avatar model in virtual reality environments following a user's motion in real time.Our proposed algorithm consists of three main steps.First,we recognize the user's pose and select a template model from the database who has a similar pose;then,the intrinsic Laplacian offsets encoded in local coordinates are used to reconstruct the human body geometry following the template pose;finally,the morphing between the two poses is generated using a linear interpolation.We perform experiments to evaluate the accuracy and efficiency of our algorithm.We believe our proposed system is a promising human modeling tool that can be used in general virtual reality applications. 展开更多
关键词 human body POSE TRANSFER local intrinsic coordinates AVATAR control in virtual reality
基于EPNP算法的单目视觉测量系统研究 预览
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作者 张慧娟 熊芝 +1 位作者 劳达宝 周维虎 《红外与激光工程》 EI CSCD 北大核心 2019年第5期180-185,共6页
利用计算机视觉进行姿态测量的方法已广泛应用于现代控制、导航、跟踪等多个领域中。研究并设计了一种基于P4P矩形分布的平面靶标和EPNP算法结合的单目视觉姿态测量方法。首先,利用单相机获取平面靶标图像,经图像处理后得到四个特征点... 利用计算机视觉进行姿态测量的方法已广泛应用于现代控制、导航、跟踪等多个领域中。研究并设计了一种基于P4P矩形分布的平面靶标和EPNP算法结合的单目视觉姿态测量方法。首先,利用单相机获取平面靶标图像,经图像处理后得到四个特征点的像素坐标,并使用EPNP算法进行姿态解算;其次,对姿态角测量误差进行了仿真分析,为提高姿态测量精度提供了理论指导和依据;最后,提出一种与高精度二维转台结合的坐标系配准方法,利用该方法对三个方向姿态角精度进行验证。实验结果表明:当绕x和y轴的转动角度在[-6°, 6°]时,姿态测量误差小于0.1°,可以满足测量应用需求。 展开更多
关键词 计算机视觉 姿态 EPNP 平面靶标
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Bidirectional Optimization Coupled Ligh tweight Net works for Efficient and Robust Multi-Person 2D Pose Estimation
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作者 Shnai Li Zheng Fang +2 位作者 Wen-Feng Song Ai-Min Hao Hong Qin 《计算机科学技术学报:英文版》 SCIE EI CSCD 2019年第3期522-536,共15页
For multi-person 2D pose estimation,current deep learning baised methods have exhibited impressive performance,but the trade-offs among efficiency,robustness,and accuracy in the existing approaches remain unavoidable.... For multi-person 2D pose estimation,current deep learning baised methods have exhibited impressive performance,but the trade-offs among efficiency,robustness,and accuracy in the existing approaches remain unavoidable.In principle,bottom-up methods are superior to top-down methods in efficiency,but they perform worse in accuracy.To make full use of their respective advantages,in this paper we design a novel bidirectional optimization coupled lightweight network(BOCLN)architecture for efficient,robust,and general-purpose multi-person 2D(2-dimensional)pose estimation from natural images.With the BOCLN framework,the bottom-up network focuses oil global features,while the top-down net work places emphasis on det ailed features.The entire framework shares global features along the bottom-up data stream,while the top-down data stream aims to accelerate the accurate pose estimation.In particular,to exploit the priors of human joints'relationship,we propose a probability limb heat map to represent the spatial context of the joints and guide the overall pose skeleton prediction,so that each person's pose estimation in cluttered scenes(involving crowd)could be as accurate and robust as possible.Therefore,benefiting from the novel BOCLN architecture,the tinie-consuming refinement procedure could be much simplified to an efficient lightweight network.Extensive experiments and evaluations on public benchmarks have confirmed that our new method is more efficient and robust,yet still attain competitive accuracy performance compared with the state-of-the-art methods.Our BOCLN shows even greater promise in online applications. 展开更多
关键词 BIDIRECTIONAL OPTIMIZATION computer vision deep learning probability LIMB heat map 2D multi-person POSE estimation
Cordycepin promotes browning of white adipose tissue through an AMP-activated protein kinase(AMPK)-dependent pathway
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作者 Guihong Qi Yue Zhou +5 位作者 Xiaopo Zhang Jiaqi Yu Xin Li Xiaoxue Cao Chongming Wu Peng Guo 《药学学报:英文版》 CSCD 2019年第1期135-143,共9页
Obesity is a worldwide epidemic. Promoting browning of white adipose tissue(WAT)contributes to increased energy expenditure and hence counteracts obesity. Here we show that cordycepin(Cpn), a natural derivative of ade... Obesity is a worldwide epidemic. Promoting browning of white adipose tissue(WAT)contributes to increased energy expenditure and hence counteracts obesity. Here we show that cordycepin(Cpn), a natural derivative of adenosine, increases energy expenditure, inhibits weight gain, improves metabolic profile and glucose tolerance, decreases WAT mass and adipocyte size, and enhances cold tolerance in normal and high-fat diet-fed mice. Cpn markedly increases the surface temperature around the inguinal WAT and turns the inguinal fat browner. Further investigations show that Cpn induces the development of brown-like adipocytes in inguinal and, to a less degree, epididymal WAT depots. Cpn also increases the expression of uncoupling protein 1(UCP1) and other thermogenic genes in WAT and3T3-L1 differentiated adipocytes, in which AMP-activated protein kinase(AMPK) plays an important role. Our results provide novel insights into the function of Cpn in regulating energy balance, and suggest a potential utility of Cpn in the treatment of obesity. 展开更多
关键词 CORDYCEPIN BROWNING of white adi POSE tissue(WAT) THERMOGENESIS AMP-activated protein kinase(AMPK) Obesity
一种车载小直角棱镜方位自动测量系统误差分析 预览
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作者 王学根 孙煜 +1 位作者 贺永喜 姜华 《导弹与航天运载技术》 CSCD 北大核心 2018年第3期88-92,共5页
采用矢量分析的方法从理论上推导出了直角棱镜与自准直光管各种姿态变化情况对方位测量的影响,得出了自准直光管绕光轴的横滚等效于直角棱镜棱线倾斜工况,二者产生的方位测量误差公式一致;并对姿态变化引入的方位测量误差提出了补偿措施。
关键词 直角棱镜 姿态 矢量法 自准直光管 误差
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Pre-detection and dual-dictionary sparse representation based face recognition algorithm in non-sufficient training samples 预览
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作者 ZHAO Jian ZHANG Chao +3 位作者 ZHANG Shunli LU Tingting SU Weiwen JIA Jian 《系统工程与电子技术:英文版》 SCIE EI CSCD 2018年第1期196-202,共7页
Face recognition based on few training samples is a challenging task. In daily applications, sufficient training samples may not be obtained and most of the gained training samples are in various illuminations and pos... Face recognition based on few training samples is a challenging task. In daily applications, sufficient training samples may not be obtained and most of the gained training samples are in various illuminations and poses. Non-sufficient training samples could not effectively express various facial conditions, so the improvement of the face recognition rate under the non-sufficient training samples condition becomes a laborious mission. In our work, the facial pose pre-recognition (FPPR) model and the dualdictionary sparse representation classification (DD-SRC) are proposed for face recognition. The FPPR model is based on the facial geometric characteristic and machine learning, dividing a testingsample into full-face and profile. Different poses in a single dictionary are influenced by each other, which leads to a low face recognition rate. The DD-SRC contains two dictionaries, full-face dictionary and profile dictionary, and is able to reduce the interference. After FPPR, the sample is processed by the DD-SRC to find the most similar one in training samples. The experimental results show the performance of the proposed algorithm on olivetti research laboratory (ORL) and face recognition technology (FERET) databases, and also reflect comparisons with SRC, linear regression classification (LRC), and two-phase test sample sparse representation (TPTSSR). 展开更多
关键词 face RECOGNITION FACIAL POSE pre-recognition (FPPR) dual-dictionary SPARSE representation method machine learning
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Antenna Mechanical Pose Measurement Based on Structure from Motion 预览
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作者 XU Kun FAN Guotian +2 位作者 ZHOU Yi ZHAN Haisheng GUO Zongyi 《中兴通讯技术:英文版》 2018年第4期38-45,共8页
Antenna mechanical pose measurement has always been a crucial issue for radio frequency(RF)engineers,owning to the need for mechanical pose adjustment to satisfy the changing surroundings.Traditionally,the pose is est... Antenna mechanical pose measurement has always been a crucial issue for radio frequency(RF)engineers,owning to the need for mechanical pose adjustment to satisfy the changing surroundings.Traditionally,the pose is estimated in the contact way with the help of many kinds of measuring equipment,but the measurement accuracy cannot be well assured in this way.We propose a noncontact measuring system based on Structure from Motion(SfM)in the field of photogrammetry.The accurate pose would be estimated by only taking several images of the antenna and after some easy interaction on the smartphone.Extensive experiments show that the error ranges of antenna’s downtilt and heading are within 2 degrees and 5 degrees respectively,with the shooting distance in 25 m.The GPS error is also under 5 meters with this shooting distance.We develop the measuring applications both in PC and android smartphones and the results can be computed within 3 minutes on both platforms.The proposed system is quite safe,convenient and efficient for engineers to use in their daily work.To the best of our knowledge,this is the first pipeline that solves the antenna pose measuring problem by the photogrammetry method on the mobile platform. 展开更多
关键词 ANTENNA MECHANICAL POSE measurement SFM PHOTOGRAMMETRY SMARTPHONE
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基于常数矩阵改进的SRC算法 预览
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作者 郑俊伟 《现代计算机:上下旬》 2018年第2期33-38,共6页
在将稀疏人脸识别算法应用到实际中,常面对一个问题,即可用的训练样本很少。为此,提出一种新的方法,用于产生更多可用的训练样本,从而提高识别率。该方法通过让常数矩阵与原始训练样本相结合,从而获得更多可用的训练样本。通过四个数据... 在将稀疏人脸识别算法应用到实际中,常面对一个问题,即可用的训练样本很少。为此,提出一种新的方法,用于产生更多可用的训练样本,从而提高识别率。该方法通过让常数矩阵与原始训练样本相结合,从而获得更多可用的训练样本。通过四个数据库的数据证明方法的有效性,并在实验中获得较高的识别率。 展开更多
关键词 人脸识别 稀疏表示 姿态 光照
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基于位姿反馈的三臂空间机器人抓捕轨迹规划 预览
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作者 蓝启杰 刘宜成 张涛 《中国机械工程》 CSCD 北大核心 2018年第20期2495-2501,共7页
以三臂空间机器人为研究对象,针对经历奇异位形时出现的位姿误差问题,提出一种基于位姿误差反馈的轨迹规划算法。根据系统一般运动学方程并结合动量守恒方程建立系统运动学模型,利用位姿期望指令得到误差运动方程。以关节角速度为控制量... 以三臂空间机器人为研究对象,针对经历奇异位形时出现的位姿误差问题,提出一种基于位姿误差反馈的轨迹规划算法。根据系统一般运动学方程并结合动量守恒方程建立系统运动学模型,利用位姿期望指令得到误差运动方程。以关节角速度为控制量,设计了基于位姿误差反馈的控制率,使闭环系统的跟踪误差按指数速度收敛。该方法能够减小机器人奇异点邻域内的位姿跟踪误差,且在离开奇异区域后能完全消除误差。仿真结果证明了该方法的有效性。 展开更多
关键词 航天机器人 奇异值 位姿 反馈控制
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基于层次部件树结构的动作识别判决模型 预览
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作者 钱银中 沈一帆 《模式识别与人工智能》 CSCD 北大核心 2017年第10期885-893,共9页
研究从静止图像中识别人体姿态动作.首先提出层次部件树结构,树中每个节点由一组Poselet表示该肢体部件的姿态变化,节点之间相互制约,构成一个Pictorial结构.基于此结构,提出基于层次部件树结构的动作识别判决模型.Pictorial结构的对偶... 研究从静止图像中识别人体姿态动作.首先提出层次部件树结构,树中每个节点由一组Poselet表示该肢体部件的姿态变化,节点之间相互制约,构成一个Pictorial结构.基于此结构,提出基于层次部件树结构的动作识别判决模型.Pictorial结构的对偶潜在函数中除了变形代价,引入Poselet同时出现代价.由于树的邻接节点之间存在包含关系,相对位置可以使用高斯分布描述,推理过程沿用距离转换和置信度传播算法,实现高效匹配.在2个数据集上,对剪枝后节点数量不同的3种判决模型的实验表明,前两层的粗粒度节点具有较强的动作识别显著性,第三层进一步提高动作识别能力,第四层的原子部件对动作识别无明显作用. 展开更多
关键词 动作识别 姿态 层次部件树
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基于对偶四元数的单目视觉目标位姿测量 预览
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作者 李晓刚 刘晋浩 《包装工程》 CAS 北大核心 2017年第5期18-22,共5页
目的在机器人视觉应用领域中,为控制机器人能够完成焊接、搬运、跟踪等任务,需要确定摄像机与目标之间的相对位姿关系,提出一种目标位姿测量方法。方法利用单摄像机获取目标特征,坐标变换参数表示为对偶四元数的形式,同时计算旋转矩阵... 目的在机器人视觉应用领域中,为控制机器人能够完成焊接、搬运、跟踪等任务,需要确定摄像机与目标之间的相对位姿关系,提出一种目标位姿测量方法。方法利用单摄像机获取目标特征,坐标变换参数表示为对偶四元数的形式,同时计算旋转矩阵和平移向量,构建位置向量和方向向量的测量值与模型值之间的误差方程,利用Hopfield神经网络实现拉格朗日乘子法,求解目标位姿最优解。结果利用Matlab软件平台,选择SVD,DQ以及文中算法进行比较,仿真实验结果表明,基于Hopfield神经网络和对偶四元数的位姿测量算法计算出的位姿参数误差最小。随着测量点数量的增大,文中提出的算法精度更高。结论对偶四元数同时求解位姿变换矩阵的旋转分量和平移分量,可消除计算误差,基于Hopfield神经网络和拉格朗日乘子法,可快速准确地计算,并收敛至目标位姿最优解。 展开更多
关键词 单目视觉 对偶四元数 拉格朗日乘子法 HOPFIELD神经网络 位姿
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基于HU矩与改进PNN的飞机姿态识别算法 预览 被引量:1
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作者 成杰 李新德 《航空兵器》 2017年第1期55-61,共7页
在军事领域,为了快速准确识别出飞机飞行过程中的姿态,提出一种基于Hu矩与改进的概率神经网络(IPNN)的新方法。该方法对于无噪声灰度化图片,先进行二值化处理,再计算图像的Hu矩特征。将飞机飞行的360。姿态按三视图分为三个类别... 在军事领域,为了快速准确识别出飞机飞行过程中的姿态,提出一种基于Hu矩与改进的概率神经网络(IPNN)的新方法。该方法对于无噪声灰度化图片,先进行二值化处理,再计算图像的Hu矩特征。将飞机飞行的360。姿态按三视图分为三个类别,即正视图、侧视图、俯视图。四维Hu矩作为PNN输入,三个视图代表的三个类别作为PNN输出,构建PNN网络。实验结果表明,对于无噪声图片平均识别率可以达到91.2%以上;对于有噪声图片平均识别率可以达到87.0%以上.可见训练后的网络具备良好的泛化能力。 展开更多
关键词 飞机 姿态 概率神经网络 HU矩 分类
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Registration Based on ORB and FREAK Features for Augmented Reality Systems 预览
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作者 Yang Yu Yingchun Guo +2 位作者 Ruili Wang Susha Yin Ming Yu 《天津大学学报:英文版》 EI CAS 2017年第2期192-200,共9页
This paper proposes a novel registration method for augmented reality (AR) systems based on Oriented FAST and Rotated BRIEF (ORB) and Fast Retina Keypoint (FREAK) natural features. In the proposed ORBFREAK method, fea... This paper proposes a novel registration method for augmented reality (AR) systems based on Oriented FAST and Rotated BRIEF (ORB) and Fast Retina Keypoint (FREAK) natural features. In the proposed ORBFREAK method, feature extraction is implemented based on the combination of ORB and FREAK, and the feature points are matched using Hamming distance. To get good matching points, cross-checks and least median squares are used to perform outlier filtration, and camera pose is estimated using the matched points. Finally, AR is rendered.Experiments show that the proposed method improves the speed of registration to be in real time; the proposed method can accurately register the target object under the circumstances of partial occlusion of the object; and it also can overcome the effects of rotation, scale change, ambient light and distance. 展开更多
关键词 AUGMENTED REALITY REGISTRATION Oriented FAST and rotated BRIEF FAST RETINA keypoint POSE estimation
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滑块内滚道型面精度的倾斜测量
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作者 徐小韵 欧屹 +2 位作者 冯虎田 王凯 王瑞 《光学学报》 CSCD 北大核心 2017年第10期192-201,共10页
为了实现滑块内滚道型面精度的快速准确测量,提出一种基于激光三角位移传感器倾斜测量的方法。对该方法的算法进行推理与验证,同时借助高精度圆棒进行实验验证。根据测量系统的特征与滑块内滚道的形状,建立相对应的模型。设计相应的算法... 为了实现滑块内滚道型面精度的快速准确测量,提出一种基于激光三角位移传感器倾斜测量的方法。对该方法的算法进行推理与验证,同时借助高精度圆棒进行实验验证。根据测量系统的特征与滑块内滚道的形状,建立相对应的模型。设计相应的算法,计算滑块内滚道的半径,并对测量过程中的误差来源进行标定补偿。在内滚道轮廓算法的基础上,计算滑块内滚道的轴线相对基准面的位置与平行度。介绍该方案的验证性实验并分析结果。实验结果表明:标准圆棒的测量精度为3.75μm,标准差在2μm以内。实验结果满足5μm的测量精度要求,且该测量方式对标定件与待测件没有位姿要求,具备一定的推广性。 展开更多
关键词 测量 激光位移传感器 型面精度测量 椭圆拟合 传感器偏角 位姿
基于油缸压力的液压支架姿态及受载反演 预览
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作者 周凯 任怀伟 +1 位作者 华宏星 郑辉 《煤矿开采》 北大核心 2017年第5期36-40,共5页
液压支架的位姿、受载信息的感知是其自适应控制的基础。通过建立液压支架的矢量闭环运动方程和分别对顶梁、掩护梁进行受力分析,给出了立柱、平衡千斤顶油压与支架位姿参数和顶梁载荷之间的数学关系,从而建立了基于油缸压力的液压支架... 液压支架的位姿、受载信息的感知是其自适应控制的基础。通过建立液压支架的矢量闭环运动方程和分别对顶梁、掩护梁进行受力分析,给出了立柱、平衡千斤顶油压与支架位姿参数和顶梁载荷之间的数学关系,从而建立了基于油缸压力的液压支架姿态及受载信息反演的数学模型。以ZY12000/28/64支顶掩护式液压支架为对象,通过ADAMS模型与本文数学模型的计算结果对比,验证了该数学模型的有效性和准确性。该模型将为液压支架的自适应控制提供技术支撑。 展开更多
关键词 油缸压力 液压支架 姿态 受载 反演 矢量闭环
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基于双目视觉导航的仿生机器人鲁棒控制算法 预览 被引量:1
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作者 李秀娟 刘伟 李珊红 《计算机科学》 CSCD 北大核心 2017年第8期318-321,共4页
仿生机器人在定姿过程中受到空间扰动因素的影响容易产生控制误差,需要对机器人进行精确标定,提高仿生机器人的定位控制精度,因此提出一种基于双目视觉导航的仿生机器人鲁棒控制算法。利用光学CCD双目视觉动态跟踪系统进行仿生机器人的... 仿生机器人在定姿过程中受到空间扰动因素的影响容易产生控制误差,需要对机器人进行精确标定,提高仿生机器人的定位控制精度,因此提出一种基于双目视觉导航的仿生机器人鲁棒控制算法。利用光学CCD双目视觉动态跟踪系统进行仿生机器人的末端位姿参量测量,建立被控对象的运动学模型;以机器人的转动关节的6自由度参量为控制约束参量,建立机器人的分层子维空间运动规划模型;采用双目视觉跟踪方法实现仿生机器人的位姿自适应修正,实现鲁棒性控制。仿真结果表明,采用该方法进行仿生机器人控制的姿态定位时对机器人末端位姿参量的拟合误差较低,动态跟踪性能较好。 展开更多
关键词 双目视觉导航 仿生机器人 鲁棒 控制 位姿 跟踪
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