A Single-Hand and Binocular Visual System for EOD Robot

摘要：

Nowadays, the existing EOD robots usually are operated manually; it is very hard to operate. According to the theory of stereo vision, a new explosive ordnance disposal (EOD) robot with a binocular vision system is developed. The vision system captures real-time images, makes camera calibrations with Zhang’s method, preprocesses images, matches feature point, then gets the stereo coordinate of the feature point of the suspicious objects, programming with Matlab7.0 and the pattern matching library EasyMatch of machine vision software eVision, it displays the real-time images on the console, and finally, controls EOD robot to grasp the suspicious object automatically and accurately. Experimental results under variable lighting condition, variable shapes and variable distances indicate that the validity in real-time performance and precision of the vision system.

关键词： EOD robot Binocular stereo vision Eyes-in-hand system Camera calibration Feature matching 3D reconstruction

作者: Fan Luqiao Yao Xifan Qi Hengnian Jiang Liangzhong Wang Wei

作者单位: The Research lab of EOD Robot, South China Univ. of Tech. Guangzhou 510641, P. R. China

会议类型: 国际会议

会议名称: 2007 IEEE International Conference on Automation and Lofistics

会议地点: 山东济南

会议语种:英文

在线出版日期: 2007-08-18（万方平台首次上网日期，不代表论文的发表时间）