计算机科学 ›› 2015, Vol. 42 ›› Issue (11): 314-319.doi: 10.11896/j.issn.1002-137X.2015.11.064
• 图形图像与模式识别 • 上一篇
汤一平,胡大卫,蔡盈梅,黄珂,姜荣剑
TANG Yi-ping, HU Da-wei, CAI Ying-mei, HUANG Ke and JIANG Rong-jian
摘要: 在动态背景下的运动目标检测中,由于目标和背景两者都是各自独立运动的,在提取前景运动目标时需要考虑由移动机器人自身运动引起的背景变化。仿射变换是一种广泛用于估计图像间背景变换的方法。然而,在移动机器人上使用全方位视觉传感器(ODVS)时,由于全方位图像的扭曲变形会 造成图像中背景运动不一致,无法通过单一的仿射变换描述全方位图像上的背景运动。将图像划分为网格窗口,然后对每个窗口分别进行仿射变换,从背景变换补偿帧差中得到运动目标的区域。最后,根据ODVS的成像特性,通过视觉方法解析出运动障碍物的距离和方位信息。实验结果表明,提出的方法能准确检测出移动机器人360°范围内的运动障碍物,并实现运动障碍物的精确定位,有效地提高了移动机器人的实时避障能力。
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