针对3维景深图像仅仅具有距离信息的局限性,提出景深面元的概念,并利用基于景深面元的法向量聚类法对景深图像进行基本的识别.通过景深面元,将Sobel算子引入到景深图像的边缘检测上来,提出了一种简易的景深图像边缘识别方法.为了满足3维景深图像重构和识别的实时性要求,采用了ARM(advanced RISC machine)+DSP(digital signal processing)的硬件平台架构.实验结果表明,基于景深面元的3维识别和边缘检测算法是有效可行的.
This article describes the structure of the cockroach-like robot.Both kinematics and locomotion control are inspired by biological observations in cockroaches.Based on cockroach-like robot kinematics analysis,screw theory,and the production-of-exponential (POE) formula,this paper focuses on the inverse kinematics which uses Paden-Kahan sub-problems to obtain directly the displacement of joint angles.The forward kinematics derives the relationship between joint angles according to the natural restrictions.Then,by using the POE formula,it can deduce the body pose and realize online trajectory control and planning.Through simulation and experimentation,it is proved that the straight-line walking and turning gait algorithms have static stability and the inverse kinematics analysis of cockroach-like robot is correct.
