钟志光, 易建强, 赵冬斌, 洪义平. 基于运动视的移动机器人定位方法[J]. 机器人, 2004, 26(4): 325-329.
引用本文: 钟志光, 易建强, 赵冬斌, 洪义平. 基于运动视的移动机器人定位方法[J]. 机器人, 2004, 26(4): 325-329.
ZHONG Zhi-guang, YI Jian-qiang, ZHAO Dong-bin, HONG Yi-ping. Mobile Robot Localization Based on Motion Vision[J]. ROBOT, 2004, 26(4): 325-329.
Citation: ZHONG Zhi-guang, YI Jian-qiang, ZHAO Dong-bin, HONG Yi-ping. Mobile Robot Localization Based on Motion Vision[J]. ROBOT, 2004, 26(4): 325-329.

基于运动视的移动机器人定位方法

Mobile Robot Localization Based on Motion Vision

  • 摘要: 提出了一种新颖的基于运动视的定位方法.该方法从机器人接近的目标上选取两个特征点并根据它们的图像坐标确定机器人运动前后相对于目标的位姿.本文还提出了一种能够更准确地找出特征点图像坐标的搜索算法.试验结果表明该方法有较高的定位精度和较强的鲁棒性.

     

    Abstract: This paper presents a novel localization method based on motion vision. The proposed method selects two feature points from the target to which a mobile robot moves and determines the poses, relative to the target, of the robot before and after motion according to the image coordinates of the two points. A search algorithm is further presented to find more correctly the image coordinates of the feature points. Experimental results indicate that this method has high localization precision and good robustness.

     

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