CN113041578B - 一种基于形态特征和单目测量的机器人自主捡球方法 - Google Patents
一种基于形态特征和单目测量的机器人自主捡球方法 Download PDFInfo
- Publication number
- CN113041578B CN113041578B CN202110205841.6A CN202110205841A CN113041578B CN 113041578 B CN113041578 B CN 113041578B CN 202110205841 A CN202110205841 A CN 202110205841A CN 113041578 B CN113041578 B CN 113041578B
- Authority
- CN
- China
- Prior art keywords
- badminton
- court
- color image
- target
- trapezoidal distortion
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 56
- 238000005259 measurement Methods 0.000 title claims abstract description 20
- 230000000877 morphologic effect Effects 0.000 title claims abstract description 19
- 238000013507 mapping Methods 0.000 claims abstract description 25
- 238000012545 processing Methods 0.000 claims abstract description 19
- 230000033001 locomotion Effects 0.000 claims abstract description 13
- 238000000605 extraction Methods 0.000 claims abstract description 5
- 230000009466 transformation Effects 0.000 claims description 34
- 238000013527 convolutional neural network Methods 0.000 claims description 29
- 238000011176 pooling Methods 0.000 claims description 26
- 238000004364 calculation method Methods 0.000 claims description 23
- 238000012549 training Methods 0.000 claims description 18
- 230000006870 function Effects 0.000 claims description 17
- 238000001914 filtration Methods 0.000 claims description 13
- 230000008569 process Effects 0.000 claims description 10
- 238000005070 sampling Methods 0.000 claims description 10
- 230000005764 inhibitory process Effects 0.000 claims description 7
- 239000013598 vector Substances 0.000 claims description 6
- 238000002372 labelling Methods 0.000 claims description 5
- 238000007781 pre-processing Methods 0.000 claims description 5
- ORILYTVJVMAKLC-UHFFFAOYSA-N Adamantane Natural products C1C(C2)CC3CC1CC2C3 ORILYTVJVMAKLC-UHFFFAOYSA-N 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 238000002474 experimental method Methods 0.000 claims description 3
- 238000005457 optimization Methods 0.000 claims description 3
- 238000012360 testing method Methods 0.000 claims description 3
- 238000012795 verification Methods 0.000 claims description 3
- 210000003746 feather Anatomy 0.000 claims description 2
- 238000002203 pretreatment Methods 0.000 claims 1
- 238000013528 artificial neural network Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 18
- 238000004590 computer program Methods 0.000 description 13
- 239000011159 matrix material Substances 0.000 description 6
- 238000003860 storage Methods 0.000 description 6
- 238000006243 chemical reaction Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 238000012163 sequencing technique Methods 0.000 description 4
- 238000009825 accumulation Methods 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 239000003086 colorant Substances 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000691 measurement method Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 230000001131 transforming effect Effects 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 238000013135 deep learning Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 230000036544 posture Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B47/00—Devices for handling or treating balls, e.g. for holding or carrying balls
- A63B47/02—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting
- A63B47/021—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting for picking-up automatically, e.g. by apparatus moving over the playing surface
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B47/00—Devices for handling or treating balls, e.g. for holding or carrying balls
- A63B47/02—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting
- A63B47/025—Installations continuously collecting balls from the playing areas, e.g. by gravity, with conveyor belts
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Physical Education & Sports Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Health & Medical Sciences (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Image Analysis (AREA)
Abstract
Description
Claims (9)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202110205841.6A CN113041578B (zh) | 2021-02-24 | 2021-02-24 | 一种基于形态特征和单目测量的机器人自主捡球方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202110205841.6A CN113041578B (zh) | 2021-02-24 | 2021-02-24 | 一种基于形态特征和单目测量的机器人自主捡球方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN113041578A CN113041578A (zh) | 2021-06-29 |
CN113041578B true CN113041578B (zh) | 2022-02-11 |
Family
ID=76508986
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202110205841.6A Active CN113041578B (zh) | 2021-02-24 | 2021-02-24 | 一种基于形态特征和单目测量的机器人自主捡球方法 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN113041578B (zh) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114522410B (zh) * | 2022-02-14 | 2023-04-25 | 复旦大学 | 一种羽毛球过网高度检测方法 |
CN117689717B (zh) * | 2024-02-01 | 2024-05-28 | 青岛科技大学 | 用于机器人拾取的地面羽毛球位姿检测方法 |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103487034A (zh) * | 2013-09-26 | 2014-01-01 | 北京航空航天大学 | 一种基于立式标靶的车载单目摄像头测距测高方法 |
CN106422223A (zh) * | 2016-08-31 | 2017-02-22 | 成都市和平科技有限责任公司 | 一种智能球形物体回收机器人系统及方法 |
CN106584488A (zh) * | 2015-10-20 | 2017-04-26 | 沈阳新松机器人自动化股份有限公司 | 一种捡球机器人及其运动控制系统 |
CN108182706A (zh) * | 2017-12-08 | 2018-06-19 | 重庆广睿达科技有限公司 | 一种焚烧物的监控方法及系统 |
CN108579030A (zh) * | 2018-04-09 | 2018-09-28 | 宁波乔克兄弟三维科技有限公司 | 一种基于视觉的机器人拾球方法 |
CN109954254A (zh) * | 2019-03-19 | 2019-07-02 | 武汉理工大学 | 基于全向来福轮的羽毛球场智能捡球机器人 |
CN110517325A (zh) * | 2019-08-29 | 2019-11-29 | 的卢技术有限公司 | 一种坐标变换及坐标变换的车身周围物体定位方法和系统 |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
PT103807A (pt) * | 2007-08-13 | 2009-01-13 | Univ Do Minho | Sistema de recolha de bolas de golf totalmente autónomo ou remotamente operado |
-
2021
- 2021-02-24 CN CN202110205841.6A patent/CN113041578B/zh active Active
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103487034A (zh) * | 2013-09-26 | 2014-01-01 | 北京航空航天大学 | 一种基于立式标靶的车载单目摄像头测距测高方法 |
CN106584488A (zh) * | 2015-10-20 | 2017-04-26 | 沈阳新松机器人自动化股份有限公司 | 一种捡球机器人及其运动控制系统 |
CN106422223A (zh) * | 2016-08-31 | 2017-02-22 | 成都市和平科技有限责任公司 | 一种智能球形物体回收机器人系统及方法 |
CN108182706A (zh) * | 2017-12-08 | 2018-06-19 | 重庆广睿达科技有限公司 | 一种焚烧物的监控方法及系统 |
CN108579030A (zh) * | 2018-04-09 | 2018-09-28 | 宁波乔克兄弟三维科技有限公司 | 一种基于视觉的机器人拾球方法 |
CN109954254A (zh) * | 2019-03-19 | 2019-07-02 | 武汉理工大学 | 基于全向来福轮的羽毛球场智能捡球机器人 |
CN110517325A (zh) * | 2019-08-29 | 2019-11-29 | 的卢技术有限公司 | 一种坐标变换及坐标变换的车身周围物体定位方法和系统 |
Also Published As
Publication number | Publication date |
---|---|
CN113041578A (zh) | 2021-06-29 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN111027547B (zh) | 一种针对二维图像中的多尺度多形态目标的自动检测方法 | |
CN109903312B (zh) | 一种基于视频多目标跟踪的足球球员跑动距离统计方法 | |
CN108364280B (zh) | 结构裂缝自动化描绘及宽度精准测量方法与设备 | |
CN113041578B (zh) | 一种基于形态特征和单目测量的机器人自主捡球方法 | |
CN106709950B (zh) | 一种基于双目视觉的巡线机器人跨越障碍导线定位方法 | |
CN111401361B (zh) | 一种端到端的轻量级深度车牌识别方法 | |
CN110599537A (zh) | 基于Mask R-CNN的无人机图像建筑物面积计算方法及系统 | |
CN110120042B (zh) | 一种基于slic超像素和自动阈值分割的农作物图像病虫害区域提取方法 | |
CN103345644B (zh) | 在线训练的目标检测方法及装置 | |
CN104134200B (zh) | 一种基于改进加权融合的运动场景图像拼接方法 | |
CN110807496B (zh) | 一种密集目标检测方法 | |
CN111626284B (zh) | 一种手写字体去除的方法、装置、电子设备和存储介质 | |
CN104063711B (zh) | 一种基于K‑means方法的走廊消失点快速检测算法 | |
CN103077529A (zh) | 基于图像扫描的植物叶片特征分析系统 | |
CN112669348B (zh) | 一种鱼体姿势估计和鱼体表型数据测量方法及装置 | |
CN110223349A (zh) | 一种采摘点定位方法 | |
CN105513066B (zh) | 一种基于种子点选取与超像素融合的通用物体检测方法 | |
CN105574527A (zh) | 一种基于局部特征学习的快速物体检测方法 | |
CN107292936B (zh) | 一种汉字字体矢量化方法 | |
CN109708658B (zh) | 一种基于卷积神经网络的视觉里程计方法 | |
CN102074017B (zh) | 一种杠铃中心点检测及跟踪的方法和装置 | |
CN108052886A (zh) | 一种小麦条锈病菌夏孢子自动统计计数方法 | |
CN114565675A (zh) | 一种在视觉slam前端去除动态特征点的方法 | |
CN112489088A (zh) | 一种基于记忆单元的孪生网络视觉跟踪方法 | |
CN107862326A (zh) | 一种基于全卷积神经网络的成熟苹果识别方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20230626 Address after: 210000 Xuanwu Road, Xuanwu District, Nanjing, Jiangsu 699-1 Patentee after: NANJING SANWAN IOT TECHNOLOGY CO.,LTD. Address before: No. 1 Wenyuan Road, Qixia District, Nanjing City, Jiangsu Province Patentee before: NANJING NORMAL University |
|
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20240322 Address after: No. 308 Zhengchuang Road, Zhengyu Town, Haimen District, Nantong City, Jiangsu Province, 226000 Patentee after: Jiangsu Zhenghai Intelligent Equipment Co.,Ltd. Country or region after: China Address before: 210000 Xuanwu Road, Xuanwu District, Nanjing, Jiangsu 699-1 Patentee before: NANJING SANWAN IOT TECHNOLOGY CO.,LTD. Country or region before: China |