CN106878756A - Robot motion estimates and backoff algorithm - Google Patents

Robot motion estimates and backoff algorithm Download PDF

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Publication number
CN106878756A
CN106878756A CN201710134140.1A CN201710134140A CN106878756A CN 106878756 A CN106878756 A CN 106878756A CN 201710134140 A CN201710134140 A CN 201710134140A CN 106878756 A CN106878756 A CN 106878756A
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CN
China
Prior art keywords
algorithm
search
point
motion
mbd
Prior art date
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Withdrawn
Application number
CN201710134140.1A
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Chinese (zh)
Inventor
汪永生
隋海涛
徐怡
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Suzhou Daerpu Industrial Control Co Ltd
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Suzhou Daerpu Industrial Control Co Ltd
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Priority to CN201710134140.1A priority Critical patent/CN106878756A/en
Publication of CN106878756A publication Critical patent/CN106878756A/en
Withdrawn legal-status Critical Current

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
    • H04N19/60—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using transform coding
    • H04N19/61—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using transform coding in combination with predictive coding
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
    • H04N19/50—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using predictive coding
    • H04N19/503—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using predictive coding involving temporal prediction
    • H04N19/51—Motion estimation or motion compensation
    • H04N19/56—Motion estimation with initialisation of the vector search, e.g. estimating a good candidate to initiate a search
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
    • H04N19/50—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using predictive coding
    • H04N19/503—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using predictive coding involving temporal prediction
    • H04N19/51—Motion estimation or motion compensation
    • H04N19/57—Motion estimation characterised by a search window with variable size or shape
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
    • H04N19/85—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using pre-processing or post-processing specially adapted for video compression
    • H04N19/86—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using pre-processing or post-processing specially adapted for video compression involving reduction of coding artifacts, e.g. of blockiness

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Manipulator (AREA)

Abstract

Robot motion estimates and backoff algorithm.Diamond approach a little is searched in predictable starting of the present invention to be applied to intelligent robot, and step is：Static block is detected and sets threshold values；Motion size judges, and selects search pattern；Selection prediction starting point, with the starting point that future position is search；Centered on zero vector position, optimal motion vector is matched and obtained；Scanned for based on reference cross diamond search algorithm；With current point as initial search point, look for MBD be located at center, after carry out local fine positioning；With final MBD points as optimal match point, motion vector is obtained.Present invention incorporates H.263 with MPEG 4 in apply overlapped block motion compensation (ORMC) algorithm, overlap multiresolution motion compensation (OMRMC) algorithm and be very suitable for multiresolution estimation (MRME) algorithm of wavelet field, reduce operand, search template is improved, and also solves blocking effect (distortion) problem that existing estimation is brought.

Description

Robot motion estimates and backoff algorithm
Technical field
Estimate the present invention relates to field of intelligent control technology, particularly robot motion and backoff algorithm, specifically, it is opened up Show that diamond approach a little is searched in a kind of predictable starting for being applied to intelligent robot.
Background technology
Transfer robot requirement motion arm is needed under the operating mode of heavy load, it is ensured that motion has big rigidity, height operation Speed, running precision and submissive motion process relatively higher, while needing to monitor the situation of change loaded in handling process And find in time and the collision being likely to occur in treatment motion process；
The motor-function evaluation algorithm for using at this stage is all based on becoming for small echo for BMA (BMA) and dct transform The characteristic changed and its application in compression of images, its operand are big, while there is blocking effect (distortion).
Therefore, it is necessary to providing a kind of predictable starting for being applied to intelligent robot searches diamond approach a little come on solving State problem.
The content of the invention
Diamond approach a little is searched it is an object of the invention to provide a kind of predictable starting for being applied to intelligent robot, its knot Closed H.264 with MPEG-4 in apply overlapped block motion compensation (ORMC) algorithm, overlap multiresolution motion compensation (OMRMC) Algorithm and multiresolution estimation (MRME) algorithm for being very suitable for wavelet field, not only operand subtracts this method significantly It is small, search template is improved, and also solve the blocking effect (distortion) that the intrinsic estimation based on Block- matching is brought Problem.
The present invention is achieved through the following technical solutions above-mentioned purpose：
Diamond approach a little is searched in a kind of predictable starting for being applied to intelligent robot, is comprised the following steps：
1）Static block is detected, while setting threshold values to static block；
2）Using H.264 proposed algorithm UMHexagonS（Unsymmetrical-cross Multi-Hexagon-grid Search）Carry out motion size estimation, after carry out motion search model selection；
3）The starting point of prediction is selected, using future position as the starting point of search；
4）Centered on zero vector position, using absolute difference and（SAD, the Sum of Absolute Difference）Mark Standard is matched as matching criterior in the range of 3*3, obtains optimal motion vector；
5）Scanned for based on reference cross diamond search algorithm；
6）With current point as initial search point, searched for using rhombus algorithm in big intersections-quasi- cross, look for MBD positioned at center, after change Rhombus algorithm carries out local fine positioning in small intersection-quasi- cross；
7）Using final MBD points as optimal match point, the image is obtained using multiresolution estimation (MRME) algorithm Motion vector.
Compared with prior art, diamond approach a little is searched in the predictable starting for intelligent robot of the invention, its knot Closed H.264 with MPEG-4 in apply overlapped block motion compensation (ORMC) algorithm, overlap multiresolution motion compensation (OMRMC) Algorithm and multiresolution estimation (MRME) algorithm for being very suitable for wavelet field, not only operand subtracts this method significantly It is small, search template is improved, and also solve the blocking effect (distortion) that the intrinsic estimation based on Block- matching is brought Problem.
Brief description of the drawings
Fig. 1 is the schematic diagram of embodiments of the invention.
Specific embodiment
Embodiment：
With reference to Fig. 1, the present embodiment shows a kind of robot motion's compensation prediction method, specific as follows：
Transfer robot absolute fix precision is not high, typically all in millimeter magnitude or so, seriously constrains its application.To robot It is the most effective means for improving its absolute precision to carry out Kinematic Calibration.The absolute fix precision of industrial robot receives geometric parameter Influence with rigging error is very big, it is therefore desirable to carry out error calibration.In order to ensure robot kinematics positioning precision and Movement locus precision, using high-precision scaling method, the demarcation of geometry and rigging error is carried out to transfer robot, by Compensated in robot real time kinematics control, to obtain the kinematic accuracy required for robot.
Predictable starting of the present embodiment mainly by being applied to intelligent robot searches diamond approach a little to realize, specifically Step is as follows：
1）Static block is detected, while setting threshold values to static block；
2）Using H.264 proposed algorithm UMHexagonS（Unsymmetrical-cross Multi-Hexagon-grid Search）Carry out motion size judge, after carry out motion search model selection；
3）The starting point of prediction is selected, using future position as the starting point of search；
4）Centered on zero vector position, using absolute difference and（SAD, the Sum of Absolute Difference）Mark Standard is matched as matching criterior in the range of 3*3, obtains optimal motion vector；
5）Scanned for based on reference cross diamond search algorithm；
6）With current point as initial search point, searched for using rhombus algorithm in big intersections-quasi- cross, look for MBD positioned at center, after change Rhombus algorithm carries out local fine positioning in small intersection-quasi- cross；
7）Using final MBD points as optimal match point, the motion vector of the image is obtained.
By the Dynamic Models of Robot Manipulators set up, combined impedance concept is calculated using torque/location track closed loop planning Method, provides a Unified frame for being applied to free space and constraint space in range of movement, reduces mission planning work While measuring, it is ensured that dynamic relationship between power and position realizes compliance function, make robot end present it is desired just Property and damping.
Compared with prior art, the beneficial effect of diamond approach a little is searched in the predictable starting for being applied to intelligent robot For：Its combine H.264 with MPEG-4 in apply overlapped block motion compensation (ORMC) algorithm, overlap multiresolution motion compensation (OMRMC) algorithm and it is very suitable for multiresolution estimation (MRME) algorithm of wavelet field, this method not only operand Greatly reduce, improve search template, and also solve the blocking effect that the intrinsic estimation based on Block- matching is brought (distortion) problem.
Above-described is only some embodiments of the present invention.For the person of ordinary skill of the art, not On the premise of departing from the invention design, various modifications and improvements can be made, these belong to protection model of the invention Enclose.

Claims (1)

1. diamond approach a little is searched in a kind of predictable starting for being applied to intelligent robot, it is characterised in that:
Comprise the following steps：
1）Static block is detected, while setting threshold values to static block；
2）Using H.264 proposed algorithm UMHexagonS（Unsymmetrical-cross Multi-Hexagon-grid Search）Carry out motion size judge, after carry out motion search model selection；
3）The starting point of prediction is selected, using future position as the starting point of search；
4）Centered on zero vector position, using absolute difference and（SAD, the Sum of Absolute Difference）Mark Standard is matched as matching criterior in the range of 3*3, obtains optimal motion vector；
5）Scanned for based on reference cross diamond search algorithm；
6）With current point as initial search point, searched for using rhombus algorithm in big intersections-quasi- cross, look for MBD positioned at center, after change Rhombus algorithm carries out local fine positioning in small intersection-quasi- cross；
7）Using final MBD points as optimal match point, the motion vector of the image is obtained.
CN201710134140.1A 2017-03-08 2017-03-08 Robot motion estimates and backoff algorithm Withdrawn CN106878756A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710134140.1A CN106878756A (en) 2017-03-08 2017-03-08 Robot motion estimates and backoff algorithm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710134140.1A CN106878756A (en) 2017-03-08 2017-03-08 Robot motion estimates and backoff algorithm

Publications (1)

Publication Number Publication Date
CN106878756A true CN106878756A (en) 2017-06-20

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Country Status (1)

Country Link
CN (1) CN106878756A (en)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000175202A (en) * 1998-12-09 2000-06-23 Victor Co Of Japan Ltd Motion vector detector
US7983341B2 (en) * 2005-02-24 2011-07-19 Ericsson Television Inc. Statistical content block matching scheme for pre-processing in encoding and transcoding
CN103402084A (en) * 2013-07-22 2013-11-20 张新安 AVS (Audio Video coding Standard)-based motion estimation fast algorithm

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000175202A (en) * 1998-12-09 2000-06-23 Victor Co Of Japan Ltd Motion vector detector
US7983341B2 (en) * 2005-02-24 2011-07-19 Ericsson Television Inc. Statistical content block matching scheme for pre-processing in encoding and transcoding
CN103402084A (en) * 2013-07-22 2013-11-20 张新安 AVS (Audio Video coding Standard)-based motion estimation fast algorithm

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
LIANGZHITUZI: "《http://blog.csdn.net/HGPRT/article/details/19911125》", 2 March 2014 *
张晓星: "《中国优秀硕士学位论文全文数据库 信息科技辑》", 30 August 2008 *

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Application publication date: 20170620