Target Positioning and Grasping of NAO Robot Based on Monocular Stereo Vision

Abstract

With the continuous advancement of science and technology and the rapid development of robotics, it has become an inevitable trend for domestic robots to enter thousands of households. In order to solve the inconvenience problem of the elderly and people with special needs, because the elderly and other people in need may need the help of domestic robots due to inconvenient legs and feet, the research of the robot target position based on monocular stereo vision and the understanding of the robot NAO are very important. Research and experiments are carried out on the target recognition and positioning in the process of NAO robot grasping. This paper proposes a recognition algorithm corresponding to quantitative component statistical information. First, extract the area of interest that contains the purpose from the image. After that, to eliminate interference in various fields and achieve target recognition, the robot cameras have almost no common field of view and can only use one camera at the same time. Therefore, this article uses the monocular vision principle to locate the target, and the detection algorithm is based on the structure of the robot head material, establishes the relationship between the height change of the machine head and the tilt angle, and improves the monocular vision NAO robot detection algorithm. According to experiments, the accuracy of the robot at close range can be controlled below 1 cm. This article completes the robot's grasping and transmission of the target. About 80% of the external information that humans can perceive comes from vision. In addition, there are advantages such as high efficiency and good stability.