Knowledge Commons of Institute of Automation,CAS
A Fish-like Binocular Vision System for Underwater Perception of Robotic Fish | |
Tong Ru![]() ![]() ![]() ![]() | |
发表期刊 | Biomimetics
![]() |
2024 | |
页码 | 171 |
摘要 | Biological fish exhibit a remarkably broad-spectrum visual perception capability. Inspired by the eye arrangement of biological fish, we design a fish-like binocular vision system, thereby endowing underwater bionic robots with an exceptionally broad visual perception capacity. Firstly, based on the design principles of binocular visual field overlap and tangency to streamlined shapes, a fish-like vision system is developed for underwater robots, enabling wide-field underwater perception without a waterproof cover. Secondly, addressing the significant distortion and parallax of the vision system, a visual field stitching algorithm is proposed to merge the binocular fields of view and obtain a complete perception image. Thirdly, an orientation alignment method is proposed that draws scales for yaw and pitch angles in the stitched images to provide a reference for the orientation of objects of interest within the field of view. Finally, underwater experiments evaluate the perception capabilities of the fish-like vision system, confirming the effectiveness of the visual field stitching algorithm and the orientation alignment method. The results show that the constructed vision system, when used underwater, achieves a horizontal field of view of 306.56°. The conducted work advances the visual perception capabilities of underwater robots and presents a novel approach to and insight for fish-inspired visual systems. |
七大方向——子方向分类 | 智能机器人 |
国重实验室规划方向分类 | 水下仿生机器人 |
是否有论文关联数据集需要存交 | 否 |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/57264 |
专题 | 复杂系统认知与决策实验室_水下机器人 |
通讯作者 | Yu Junzhi |
作者单位 | 1.Laboratory of Cognitive and Decision Intelligence for Complex System, Institute of Automation, Chinese Academy of Sciences 2.School of Artificial Intelligence, University of Chinese Academy of Sciences 3.Human-Oriented Methodology and Equipment Laboratory, Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University 4.State Key Laboratory for Turbulence and Complex Systems, Department of Advanced Manufacturing and Robotics, College of Engineering, Peking University |
推荐引用方式 GB/T 7714 | Tong Ru,Wu Zhengxing,Wang Jinge,et al. A Fish-like Binocular Vision System for Underwater Perception of Robotic Fish[J]. Biomimetics,2024:171. |
APA | Tong Ru,Wu Zhengxing,Wang Jinge,Huang Yupei,Chen Di,&Yu Junzhi.(2024).A Fish-like Binocular Vision System for Underwater Perception of Robotic Fish.Biomimetics,171. |
MLA | Tong Ru,et al."A Fish-like Binocular Vision System for Underwater Perception of Robotic Fish".Biomimetics (2024):171. |
条目包含的文件 | 下载所有文件 | |||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
Tong 等 - 2024 - A Fi(4134KB) | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。
修改评论