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针对足球机器人等对球形目标定位的高精度要求,提出了一种用于球形目标的区域重建及定位方法。通过对目标成像特征的分析,并根据目标成像后的不变特征量确定了基于圆拟合的目标重建方法:利用凸壳特性选择候选拟合点集,用最小二乘圆拟合实现目标区域的重建,保证了重建后的目标区域接近于实际目标区域。试验表明,文章方法对球形目标区域的重建效果较好,满足高精度要求,并且能够同时解决球形目标的遮挡问题。
Aimed at the high accuracy requirement of spherical robot such as soccer robot, a method of regional reconstruction and positioning for spherical target is proposed. Based on the analysis of the target imaging features and the invariant feature quantity after the target imaging, a method of target reconstruction based on the circle fitting is determined: the candidate fitting point set is selected by using the convex hull characteristics and the target area is achieved by the least square circle fitting Reconstruction, to ensure that the reconstruction of the target area close to the actual target area. Experiments show that the method of the article rebuilds the spherical target area better, meets the high precision requirements and can simultaneously solve the occlusion of the spherical target.