摘要
在空间机器人遥操作中,需要快速的求解图像的摄像机参数来对操作对象进行三维建模。通过利用匹配直线的对应关系,可以直接求出图像的摄像机参数,而且比用角点匹配求得的结果具有更高的可靠性。现有的直线提取和匹配算法虽然已经有很多,但是大部分都比较耗时,不能满足实时性的要求。针对空间机器人遥操作等实时性较强的应用,提出了一种基于直线支持区域的稳健、快速的直线提取和匹配算法。实验结果表明了该算法的有效性。
In telerobotic system,the camera parameters of the images need to be quickly acquired in order to reconstruct the object.The camera parameters of the images can be directly acquired by using the corresponding relations in the matched lines,and it is more reliable than using corners.There are many approaches for extracting and matching straight lines,but they are all time-consuming thus limiting their use in the Real-time system.Aimed at the Real-time application,such as telerobotic system in space,a method for robustly and fast extracting and matching line segments based on support region of lines is proposed in the paper.The validity of this approach is indicated by experiment.
出处
《计算机仿真》
CSCD
2008年第9期171-173,共3页
Computer Simulation
关键词
支持区域
直线提取
相似性度量
直线配准
Support region
Line extraction
Comparability measurement
Line matching
