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《Intelligent Computer and Applications》 2019-04
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Parking robot obstacle detection system based on binocular vision

WANG Shuai;YANG Jianxi;School of Mechatronics Engineering,Henan University of Science and Technology;  
Aiming at the demand of vision system in the research field of parking robot and intelligent parking garage,a parking robot obstacle detection system based on binocular vision is designed. The binocular camera calibration is done by using the control variable method in physics. The Bouguet algorithm is used for stereo correction. The YOLO Convolutional Neural Network is introduced to detect the obstacles quickly. The improved stereo matching algorithm is used to detect the smooth edge obstacles under weak illumination,set up a binocular vision system and conduct experimental verification. The experimental results showthat the consumed detection time of the system is 0.463 s on average,and the detection error is within 50 mm from 1 400 mm to 2 100 mm.It has good real-time performance and high precision,which lays a foundation for the development of economical parking robot.
【Fund】: 河南省重点攻关项目(1621002210048);; 河南省教育厅自然科学研究项目(2010B460010)
【CateGory Index】: TP242
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