机器人视觉中物体识别实验系统设计.pdf

机器人视觉中物体识别实验系统设计

摘 要

作为机电一体化产品的典型代表，机器人在逐渐走向智能化。而通过

视觉来对周围环境中的物体进行识别的技术是机器人智能化的重要标志。具

有“视觉”且能够识别物体的机器人可以获取外部世界图像，并从中识别出

感兴趣的物体，根据需要作出反应。这对机器人的工作和未来机器人的发展

具有重要的意义。且物体识别不仅仅可以用于机器人，其他各行各业如交

通，国防等也都用到该项技术。而物体识别中最具代表的是人脸的检测，本

次设计为从图像或视频中检测出人脸。

容提供给程序，观察程序的输出结果（对人脸的检测标记情况）是否与预期

一致，确保它能够满足要求，并由此发现设计的不足之处，以便在以后的工

作中予以改进。

关键字 物体识别，人脸检测， OpenCV ，训练，分类器

OBJECT RECOGNITION OF ROBOT VISION

EXPERIMENTAL SYSTEM DESIGN

ＡＢＳＴＲＡＣＴ

As a typical of mechannical and electronics production,

robots have been going toward intelligence gradually.

The technology of recognizing objects in the environment is an im portant

objects are able to get the picture of external environment,and recognize

the objects that they are interested in.The they response according to

need.this is a very important meaning for the work of robot and the

development of future robot.And this technology can not only be used in

robot,but also other fields such as traffic and national defense.Face

detection is a typical of objects recognition.So the content of this design

is to detect faces from the image or video.

At last,we should test the work.we can provide images or videos got

from the camera to the programme,then we look at and analyse what the

programme show out(the result that it detect and mark faces).And the

also find the shortcomings so that they can be overcome in the future work.

前言 ................................................1

第 1 章 总体方案设计 ..................................2

§1.1 人脸检测简介及算法选取 ..........................2

§1.1.1 人脸检测介绍 ................................2

§1.1.2 人脸检测的常用方法及选取 .....................2

§1.2 操作系统及图像库的选取 ..........................3

§1.2.1 操作系统 ...................................4

§1.2.2 图像库 ....................................4

第 2 章 Adaboost 、Haar 及 OpenCV 实现 ..................5

§2.1 Adaboost 方法 .................................5

第 4 章 分类器的训练 .................................14

§4.1 创建 vec 正样本 ...............................14

§4.2 训练分类器 ...................................17

第 5 章 编写主程序及效果检验 ..........................20

§5.1 编写主程序 ...................................21

§5.2 效果检验 .....................................26

结论 ................................................31

致谢 ................................................31

参考文献 ............................................32

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