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遍历广义Hough变换的烹饪机器人锅具椭圆参数拟合算法

Keywords: 烹饪机器人, 最小二乘法, 广义Hough变换, 示教系统

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Abstract:

锅具位姿的计算是双目视觉烹饪机器人示教系统的难点,针对此问题设计了基于遍历广义Hough变换的烹饪机器人锅具椭圆参数拟合算法,算法结合了最小二乘法和广义Hough变换,使用曲线窗体滑动遍历的方式给椭圆不同曲线段打分拟合出锅具的唯一椭圆,再使用最小二乘法计算此椭圆的参数值。解决了烹饪机器人示教系统中锅具椭圆参数精确提取问题。实验表明该锅具识别算法能够高效地提取画面中的锅具椭圆参数,能较好地满足烹饪机器人示教系统的要求。

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