论文标题
通过数字图像处理来控制机器人平台运动的算法开发
Algorithm Development for Controlling Movement of a Robotic Platform by Digital Image Processing
论文作者
论文摘要
以下工作显示了一种算法，该算法可以以数字方式处理图像，以控制在某个环境中移动机器人平台的运动。该平台的标识具有特定的颜色，并且平台移位的位移环境已经确定了具有不同颜色的障碍，因为它均与RGB颜色尺度一起使用。为了获得控制机器人平台的控制，该算法是用C编程语言开发的，并使用开放的CV库来处理由Dev-Platform C + +上的摄像机捕获的图像。以前使用Zhang技术对摄像机进行了校准，其中获得了参数，并获得了焦距和倾斜焦点像素。在算法直方图分析和图像的分割中，可以准确确定平台相对于遵循障碍和运动策略的相对位置。
The following work shows an algorithm that can process images digitally with the goal of control the movement of a mobile robotic platform in a certain environment. The platform is identified with a specific color, and displacement environment of the platform shift has identified obstacles with different colors, for both cases it worked with the RGB color scale. To obtain the control's movement of the robotic platform, the algorithm was developed in C programming language, and used the Open CV libraries for processing images captured by a video camera on the Dev-platform C + +. The video camera was previously calibrated using ZHANG technique where parameters were obtained focal length and tilt focal pixel. In the algorithm histogram analysis and segmentation of the image were developed, allowing to determine exactly the relative position of the platform with respect to the obstacles and movement strategy to follow.
