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仿人机器人视觉导航中的实时性运动模糊探测器设计

吴俊君 管贻生 张宏 周雪峰 苏满佳

吴俊君, 管贻生, 张宏, 周雪峰, 苏满佳. 仿人机器人视觉导航中的实时性运动模糊探测器设计. 自动化学报, 2014, 40(2): 267-276. doi: 10.3724/SP.J.1004.2014.00267
引用本文: 吴俊君, 管贻生, 张宏, 周雪峰, 苏满佳. 仿人机器人视觉导航中的实时性运动模糊探测器设计. 自动化学报, 2014, 40(2): 267-276. doi: 10.3724/SP.J.1004.2014.00267
WU Jun-Jun, GUAN Yi-Sheng, ZHANG Hong, ZHOU Xue-Feng, SU Man-Jia. A Real-time Method for Motion Blur Detection in Visual Navigation with a Humanoid Robot. ACTA AUTOMATICA SINICA, 2014, 40(2): 267-276. doi: 10.3724/SP.J.1004.2014.00267
Citation: WU Jun-Jun, GUAN Yi-Sheng, ZHANG Hong, ZHOU Xue-Feng, SU Man-Jia. A Real-time Method for Motion Blur Detection in Visual Navigation with a Humanoid Robot. ACTA AUTOMATICA SINICA, 2014, 40(2): 267-276. doi: 10.3724/SP.J.1004.2014.00267

仿人机器人视觉导航中的实时性运动模糊探测器设计

doi: 10.3724/SP.J.1004.2014.00267
基金项目: 

国家自然科学基金(50975089);中国博士后科学基金(2012M521600)资助

详细信息
    作者简介:

    吴俊君 华南理工大学博士研究生.主要研究方向为移动机器人视觉导航,同时定位与地图构建.E-mail:junjun-wu@hotmail.com

A Real-time Method for Motion Blur Detection in Visual Navigation with a Humanoid Robot

Funds: 

Supported by National Natural Science Foundation of China (50975089) and China Postdoctoral Science Foundation (2012M5 21600)

  • 摘要: 针对仿人机器人视觉导航系统的鲁棒性受到运动模糊制约的问题,提出一种基于运动模糊特征的实时性异常探测方法. 首先定量地分析运动模糊对视觉导航系统的负面影响,然后研究仿人机器人上图像的运动模糊规律,在此基础上对图像的运动模糊特征进行无参考的度量,随后采用无监督的异常探测技术,在探测框架下对时间序列上发生的图像运动模糊特征进行聚类分析,实时地召回数据流中的模糊异常,以增强机器人视觉导航系统对运动模糊的鲁棒性. 仿真实验和仿人机器人实验表明:针对国际公开的标准数据集和仿人机器人NAO数据集,方法具有良好的实时性(一次探测时间0.1s)和有效性(召回率98.5%,精确率90.7%). 方法的探测框架对地面移动机器人亦具有较好的普适性和集成性,可方便地与视觉导航系统协同工作.
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出版历程
  • 收稿日期:  2013-03-12
  • 修回日期:  2013-08-01
  • 刊出日期:  2014-02-20

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