罗真, 曹其新. 基于视觉和里程计信息融合的移动机器人自定位[J]. 机器人, 2006, 28(3): 344-349..
LUO Zhen, CAO Qi-xin. Self-localization of Mobile Robot Based on Vision and Odometer. ROBOT, 2006, 28(3): 344-349..
Abstract：Inspired by orientation sensation of pigeon,we divide the self-localization approach of mobile robot with omni-vision and odometer into two modes: mode based on omni-vision and mode based on odometer.The robot selects its concrete self-localization mode at certain time according to a certain rule.Firstly,the robot attempts to use the omni-vision information to localize itself.If there is not enough vision information to localize itself,or the reliability of the omni-vision based self-localization cannot be accepted,the robot uses the odometer information to localize itself.For the problem of landmark information distortion,it calculates the theoretic values of landmarks based on the initial visual self-localization results,and compares the theoretic values with the possible values of landmarks extracted from the raw images to filter out the unreliable vision-based self-localization.To gain exact self-localization of moving robot,factors of time delay that affect the precision of self-localization is analyzed.
[1] Iocchi L,Nardi D.Hough localization for mobile robots in polygonal environments[J].Robotics and Autonomous Systems,2002,40(1):43-58. [2] Kreithen M L.Orientational strategies in birds:a tribute to W.T.Keeton[A].Aspey W P,Lustik S I.Behavioral Energetics:the Cost of Survival in Vertebrates[M].Columbus,OH:Ohio State University Press,1983.3 -28. [3] 马建光,贾云得.一种基于全向摄像机的移动机器人定位方法[J].北京理工大学学报,2003,23(3):317-321. [4] Ozawa N,et al.WinKIT 2004 Team Description[EB/CD].http://www.robocup.org,2004. [5] Pagello E,Menegatti E,D'Angelo A.The Artisti Veneti 2004 Middle-Size Team[EB/CD].http://www.robocup.org,2004. [6] Motomura A,Matsuoka T,Hasegawa T.Self-localization method using two landmarks and dead reckoning for autonomous mobile soccer robots[A].RoboCup 2003 Symposium[C].Heidelberg:Springer-Verlag,2003.526-533.
