作　　者： ; ;

机构地区： 上海交通大学机械与动力工程学院制造技术与装备自动化研究所

出　　处： 《上海交通大学学报》 2003年第11期1645-1648,共4页

摘　　要： 设计开发了一种新型的机器人实时彩色视觉系统,以及基于颜色的实时分割和识别软件系统.采用即插即用型的USB接口数字摄像头,简化了系统的使用和维护.首先把输入的彩色图像从RGB空间转换到YIQ颜色空间,提取出和颜色有关的IQ平面的信息;然后根据目标颜色在IQ平面里分割图像,再对图像进行游程编码,并从游程编码中提取出有效的图像信息;最后通过TCP/IP接口将视觉信息发送给机器人控制系统.为了抑制光强变化的影响,采用了一种阈值学习方法.实验结果表明,整套系统具有很高的实时性和较好的识别效果. A set of realtime identification software system was developed which is based on a color segmentation as the core of the whole system. The system is composed of a plug and play USB digital camera. First, the color space of input color image is converted from RGB color space to YIQ color space. So the information of IQ plane is obtained. Second, the image in IQ plane is segmented by the given color. After that, a run length encoded (RLE) version is computed. Then the information of the image is extracted from the RLE version. At last, the vision information is transferred to the robot control system through the TCP/IP interface. In order to restrain the influence of the variational intensity of the light, a threshold learning method was adopted. It is shown by the experiments and practices that the whole system has good realtime performance and satisfying identification effect.

关 键 词： 机器人视觉 识别 游程码 色彩空间

领　　域： [自动化与计算机技术] [自动化与计算机技术]