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仿生眼运动视觉与立体视觉 3 维感知
王庆滨; 邹 伟; 徐 德; 张 峰
Source Publication机器人
4 个旋转自由度的双目仿生眼平台,并分别
维感知,后者综合利用单个摄像机在多个相邻时刻获取的多个图像及其对应姿态进行 3 维感知.实验结果中的双
0.38%,单目运动视觉相对感知精度为 0.82%.本文方法不但能够有效拓宽传统双目视觉的

Other AbstractIn order to overcome the narrow visual field of binocular vision and the low precision of monocular vision, a
binocular biomimetic eye platform with 4 rotational degrees of freedom is designed based on the structural characteristics
of human eyes, so that the robot can achieve human-like environment perception with binocular stereo vision and monocular motion vision. Initial location and parameters calibration of the biomimetic eye platform are accomplished based on
the vision alignment strategy and hand-eye calibration. The methods of binocular stereo perception and monocular motion
stereo perception are given based on the dynamically changing external parameters. The former perceives the 3D information
through the two images obtained by two cameras in real-time and their relative posture, and the latter perceives the 3D information by synthesize multiple images obtained by one camera and its corresponding postures at multiple adjacent moments.
Experimental results shows that the relative perception accuracy of binocular vision is 0.38% and the relative perception
accuracy of monocular motion vision is 0.82%. In conclusion, the method proposed can broaden the field of binocular vision,
and ensure the accuracy of binocular perception and monocular motion perception.

Keyword仿生眼 立体标定 手眼标定 单目运动视觉
Document Type期刊论文
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
王庆滨,邹 伟,徐 德,等. 仿生眼运动视觉与立体视觉 3 维感知[J]. 机器人,2015,37(6):760-768.
APA 王庆滨,邹 伟,徐 德,&张 峰.(2015).仿生眼运动视觉与立体视觉 3 维感知.机器人,37(6),760-768.
MLA 王庆滨,et al."仿生眼运动视觉与立体视觉 3 维感知".机器人 37.6(2015):760-768.
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