纹理识别触觉传感器的设计与实现
发布时间：2018-12-27 12:52
【摘要】：为了解决机器人手指在抓取物体时无法识别其表面纹理信息的问题,设计了一种基于视觉的纹理识别触觉传感器.该传感器的硬件部分包括弹性体、照明装置和摄像头,而算法部分则是直接运用旋转不变LBP算法将拍摄到的纹理图像进行计算识别.为了加快传感器的速度并拓宽其适用范围,将算法移植到硬件电路并在FPGA上进行了验证.实验结果证明该传感器不仅可以识别包括指纹、皮革、织物、纸张等在内的12种纹理,而且可以达到24f/s帧率的实时性处理.
[Abstract]:In order to solve the problem that the robot fingers can not recognize the texture information of the surface of the object, a texture recognition tactile sensor based on vision is designed. The hardware part of the sensor includes elastic object, illumination device and camera, while the algorithm part uses rotation invariant LBP algorithm to compute and recognize the captured texture image. In order to speed up the speed of the sensor and broaden its application range, the algorithm is transplanted to the hardware circuit and verified on FPGA. The experimental results show that the sensor can not only identify 12 textures including fingerprint, leather, fabric and paper, but also achieve real-time processing of 24f/s frame rate.
【作者单位】： 清华大学微电子学研究所;
【基金】：国家自然科学基金(61327809)
【分类号】：TP212
[Abstract]:In order to solve the problem that the robot fingers can not recognize the texture information of the surface of the object, a texture recognition tactile sensor based on vision is designed. The hardware part of the sensor includes elastic object, illumination device and camera, while the algorithm part uses rotation invariant LBP algorithm to compute and recognize the captured texture image. In order to speed up the speed of the sensor and broaden its application range, the algorithm is transplanted to the hardware circuit and verified on FPGA. The experimental results show that the sensor can not only identify 12 textures including fingerprint, leather, fabric and paper, but also achieve real-time processing of 24f/s frame rate.
【作者单位】： 清华大学微电子学研究所;
【基金】：国家自然科学基金(61327809)
【分类号】：TP212
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