Journal of South China University of Technology (Natural Science Edition) ›› 2008, Vol. 36 ›› Issue (4): 40-44.

• Mechanical Engineering • Previous Articles     Next Articles

Single-Hand and Binocular Eye-in-Hand System for Semi-Intelligent EOD Robot

Fan Lu-qiao  Yao Xi-fan  Jiang Liang-zhong  Wang Wei     

  1. Research Laboratory of EOD Robot, South China University of Technology, Guangzhou 510640, Guangdong, China
  • Received:2007-07-31 Revised:2007-11-11 Online:2008-04-25 Published:2008-04-25
  • Contact: 范路桥（1966-），男，副教授，在职博士生，主要从事智能机器人技术，计算机应用的研究． E-mail:fanluqiao@163．com
  • About author:范路桥（1966-），男，副教授，在职博士生，主要从事智能机器人技术，计算机应用的研究．
  • Supported by:

    广东省科技计划资助项目（2004-A10403006）;华南理工大学高水平大学建设重点项目（B01-D7041010）

PDF

1342

Abstract:

The existing explosive ordnance disposal （EOD） robots are usually operated manually and are hard to operate. In order to solve this problem, this paper develops a single-hand and binocular eye-in-hand system based on binocular stereo vision for the semi-intelligent EOD robot. The system uses Matlab7.0 as the calculation engine and adopts the pattern matching library EasyMatch in machine vision software eVision6.2 to perform the stereo matching. It can capture real-time images and make camera calibrations, image preprocessing as well as feature point matching. It can also determine the coordinate of suspicious objects, display real-time images on the console, and control the semi-intelligent EOD robot to grasp suspicious objects automatically and accurately. Experimental results show that the proposed system is of a relative error of less than 2.54% , which meets the practical requirements of EOD robots.

Key words: explosive ordnance disposal robot, binocular stereo vision, eyes-in-hand system, camera calibration, feature matching, 3D reconstruction