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移动机器人主动视觉定位

发表时间:2011-11-30  浏览量:1418  下载量:623
全部作者: 李宝全,方勇纯,张雪波,何万峰
作者单位: 南开大学机器人与信息自动化研究所
摘 要: 对单目视觉移动机器人系统,提出主动视觉定位方法。首先根据特征点三维重建理论,得到图像特征点的空间坐标并形成路标,完成环境信息的获取。然后,通过一种非线性云台控制器,使路标保持在图像水平方向中心,以实现对路标的重复观测。在此基础上,设计视觉测量算法,完成机器人的定位。实验结果证明:主动视觉定位方法实现了对路标的重复观测,从而达到较高的定位精度。
关 键 词: 机器人控制;移动机器人;主动视觉;视觉定位;路标
Title: Active visual method for mobile robots localization
Author: LI Baoquan, FANG Yongchun, ZHANG Xuebo, HE Wanfeng
Organization: Institute of Robotics and Automatic Information System, Nankai University
Abstract: For a monocular camera-based mobile robot system, the paper proposes an active visual method for robot localization. It first obtains world frame coordinates of image feature points and the landmark using a 3D reconstruction method, which obtains the environment information. Then, a nonlinear pan-tilt camera controller is designed for the purpose of making the landmark in horizon center of image, which realizes repeated observation of the landmark. On this basis, the visual measurement algorithm is designed to acquire the robot location. The performance of the active visual localization method is validated by the experiment results, showing that a higher accuracy of localization can be reached by realizing repeated observation of the landmark.
Key words: robot control; mobile robots; active visual; visual localization; landmark
发表期数: 2011年11月第22期
引用格式: 李宝全,方勇纯,张雪波,等. 移动机器人主动视觉定位[J]. 中国科技论文在线精品论文,2011,4(22):2029-2034.
 
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