The vision system of mobile robot refers to the vision system of mobile robot, which includes two parts: obtaining pictures through sensors and processing drawings through computer processors. According to the number and characteristics of vision sensors, the mobile robot vision system of the main stream includes monocular vision, binocular vertical vision, multi-eye vision and panoramic vision.
1. Monocular vision system
Monocular vision systems use only one vision sensor. The monocular vision system loses depth information from the three-dimensional objective international projection of the N-dimensional picture in the imaging process, which is the main defect of this type of vision system. Nevertheless, because of its simple monocular vision architecture, mature algorithms, and small computational effort, it has been widely used in autonomous mobile robots. For example, it is used for target tracking, indoor positioning and navigation based on monocular features, etc. Together, monocular vision is the foundation of other types of vision systems, such as binocular stereo vision, multi-eye vision, etc., which are completed on the basis of the monocular vision system through additional techniques and measures.
2. Binocular stereo vision system
The binocular vision system consists of two cameras that use the principle of triangulation to obtain depth information about the scene. And it can reconstruct the three-dimensional shape and position of the surrounding scene, similar to the stereo function of the human eye, and the principle is simple. The binocular vision system needs to know the spatial position relationship between the two cameras unambiguously. And the 3D information of the scene environment requires two cameras to take two pictures of the same scene from different viewpoints together. And do a messy match to get it accurately. The stereo vision system can accurately restore the gas and dimensional information of the visual scene, and has been widely used in the positioning and navigation, obstacle avoidance, and map construction of mobile robots. However, the difficulty in the stereo vision system is the problem of matching the corresponding points, which greatly restricts the application prospect of stereo vision in the field of robotics.
3. Multi-eye vision system
The multi-eye vision system selects three or more cameras, and the triocular vision system is the majority, which is mainly used to deal with the problem of matching ambiguity in the binocular stereo vision system and improve the matching accuracy. The advantage of the trinocular vision system is that the information of the third camera is fully used, the fault matching is reduced, the ambiguity of the binocular vision system matching is processed, and the positioning accuracy is improved, but the relative position of the three cameras should be reasonably placed in the trinocular vision system, and its structural configuration is more cumbersome than the binocular vision system, and the matching algorithm is more messy, the demand consumes more time, and the real-time performance is worse.
4. Panoramic visual system
The outstanding advantage of the multi-directional imaging system with a large horizontal field of view is that it has a large field of view, which can reach 360°, which is incomparable with other conventional lenses. The panoramic visual system can be completed by the method of picture stitching or through the catadioptric optical elements, and the method of picture stitching uses a single or multiple cameras to rotate to scan the scene at a large point of view, obtain continuous multi-frame pictures in different directions, and then use the stitching skills to obtain the panorama.
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