【正文】 境中的障礙物，完成了視覺(jué)導(dǎo)航的中的避障任務(wù)。 本文結(jié)合國(guó)家自然科學(xué)基金和湖北省青年杰出人才基金項(xiàng)目的需求，提出了基于地面特征識(shí)別的室內(nèi)機(jī)器人視覺(jué)導(dǎo)航這一課題。隨著近幾年圖像處理技術(shù)以及計(jì)算機(jī)處理能力的飛速發(fā)展，視覺(jué)導(dǎo)航成為 機(jī)器人導(dǎo)航的主要發(fā)展方向 之一 。 最近二十年來(lái)，基于視覺(jué)的室內(nèi)機(jī)器人導(dǎo)航和室外機(jī)器人導(dǎo)航均得到了飛速發(fā)展。通過(guò)對(duì)圖像處理的基本理論的研究和實(shí)踐，特別是對(duì)彩色圖像分割進(jìn)行比較深入的學(xué)習(xí)和探討， 在已有研究的基礎(chǔ)上，提出了一種通過(guò)分析機(jī)器人環(huán)境圖像中的顏色信息來(lái)識(shí)別機(jī)器人的可行走區(qū)域和非可行走區(qū)域的方法，開(kāi)發(fā)了一個(gè)機(jī)器人的實(shí)時(shí)障礙物檢測(cè)系統(tǒng)，包括環(huán)境視頻圖像的采集、處理、壓縮、存儲(chǔ)和 實(shí)時(shí) 回放。 關(guān)鍵詞： 室內(nèi)移動(dòng)機(jī)器人，視覺(jué)導(dǎo)航，障礙物檢測(cè)，彩色圖像分割 武漢理工大學(xué)碩士學(xué)位論文 II Abstract Vision has the advantage of broad sensing area and full information. With the development of image processing technology and the ability of puter, the visual navigation is being a main way in robot navigation. The progress made in the last two decades has been on visionbased navigation both for indoor robots and for outdoor robots. One task of the robot navigation is avoiding obstacles. Hence, robots should recognize the drivable and the obstacle areas as they move. With the support of project of National Scientific Fund and project of Excellent Scientist Fund in Hubei, the research on floor segmentation for indoor mobile robot visual navigation is put forward. This paper studies image processing theory, especially the color image segmentation. It puts forward a method of segmenting the scene into drivable and nondrivable areas through analyzing the color information of the input environment images and implements a system of obstacle detection, including the capture, processing, pression, saving and rendering of video images. Through the study of this subject, some results and conclusions are drawn: (1) This paper analyzes the features of corners, borders and color of indoor floor in detail. It also pares the methods of extraction these features. Finally the color feature is chosen as the landmark for visual navigation. (2) This paper does research on color image segmentation based on existing image segmentation algorithms. It puts forward a color image segmentation algorithm based on histogram to segment the indoor scene into drivable and nondrivable areas. (3) This paper implements a realtime system of video capture, processing, pression, saving and rendering based on DirectShow. The processed video images can be pressed by many methods. Visual C++ environment, OpenCV and DirectShow tools are used. The results show that this system can implement realtime obstacle detection and avoidance. Key words: indoor mobile robot, visual navigation, obstacles detection, color image segmentation 武漢理工大學(xué)碩士學(xué)位論文 III 目錄 第 1 章 緒論 .................................................................................................................1 課題研究及意義 .................................................................................................1 國(guó)內(nèi)外現(xiàn)狀及發(fā)展趨勢(shì) .....................................................................................2 本文內(nèi)容與結(jié)構(gòu) .................................................................................................5 本章小結(jié) .............................................................................................................6 第 2 章 機(jī)器人的視覺(jué)導(dǎo)航系統(tǒng) .................................................................................7 機(jī)器人的導(dǎo)航技術(shù) .............................................................................................8 智能型機(jī)器人的各種導(dǎo)航方式 ..................................................................8 智能機(jī)器人導(dǎo)航中的傳感器 ......................................................................9 機(jī)器人視覺(jué)導(dǎo)航的發(fā)展 ................................................................................... 11 機(jī)器人視覺(jué)系統(tǒng) ...............................................................................................14 機(jī)器人視覺(jué)系統(tǒng)組成 ................................................................................14 機(jī)器人視覺(jué)系統(tǒng)工作過(guò)程 ........................................................................16 本章小結(jié) ...........................................................................................................17 第 3 章 機(jī)器人視覺(jué)導(dǎo)航中的圖像處理技術(shù) ...........................................................18 圖像采集和預(yù)處 理 ...........................................................................................18 圖像的采集 ................................................................................................18 圖像預(yù)處理 ................................................................................................19 圖像分割 ...........................................................................................................22 邊緣檢測(cè) ....................................................................................................23 灰度閾值法 ................................................................................................26 顏色分割 ....................................................................................................28 圖像壓縮存儲(chǔ) ...................................................................................................29 本章小結(jié) ...........................................................................................................30 第 4 章 室內(nèi)地面分割的圖像處理算法 ...................................................................31 室內(nèi)地面特征的選取 .......................................................................................32 武漢理工大學(xué)碩士學(xué)位論文 IV 圖像的顏色空間的選取 ...................................................................................37 圖像的顏色模型 ........................................................................................37 顏色模型變換的算法 ................................................................................39 基于直方圖的地面分割 ...................................................................................42 彩色圖像的分割 ........................................................................................42 圖像直方圖的計(jì) 算 ....................................................................................47 直方圖的反向投影 ........................