Target positioning method in binocular vision manipulator control based on improved canny operator

摘要

In order to improve the accuracy of binocular vision manipulator control, a target positioning method based on improved Canny operator is proposed. First, the image acquired by the left and right cameras is converted into an HSI color model, and the range of the target in the image is located by the image color feature as a region of interest (ROI). Then, the improved Canny edge detection algorithm is used to detect the target in the ROI image, extract the target contour, and determine the center position of the target. These processes are performed on the left and right images, respectively, to obtain the center of the target on the left and right images, and then the three-dimensional coordinates of the target with respect to the camera are determined by triangulation. The experimental results show that the method can accurately detect and locate the target position, and the positioning error is 2.4%. Therefore, it can provide accurate coordinates for the manipulator to perform related tasks.