立体视觉测程研究进展

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丁良宏, 王润孝, 冯华山, 段清娟. 立体视觉测程研究进展[J]. 机器人, 2011, 33(1): 119-128.. DING Lianghong, WANG Runxiao, FENG Huashan, DUAN Qingjuan. Advances in Research of Stereo Vision Odometry. ROBOT, 2011, 33(1): 119-128..

摘要立体视觉测程技术正逐渐成为移动机器人在非结构化环境中导航定位的主要实现方法．本文对立体视觉测程技术在机器人导航应用中的现状进行分析，总结目前立体视觉测程技术的主要研究内容和方法，评述各种技术方法的优缺点，最后对立体视觉测程的发展进行展望．

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	丁良宏
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关键词 ：立体视觉测程, 非结构化环境, 移动机器人, 导航定位, 运动估测

Abstract：Stereo vision odometry technology is becoming a main implementation method for mobile robot navigation and location in unstructured environments.In this paper,the research status of stereo vision odometry technology in robot navigation applications is analyzed.The current main research contents and methods of stereo vision odometry technology are summarized.Advantages and disadvantages of the various technical methods are reviewed.At last,the development of stereo vision odometry is prospected.

Key words： stereo vision odometry unstructured environment mobile robot navigation and location motion estimation

收稿日期: 2010-02-07 录用日期: 2010-11-19

TP242.6

基金资助:国防基础科研项目（A2720060275）

通讯作者: 良宏 E-mail: dlh02@126.com

作者简介: 丁良宏（1978- ），男，博士生．研究领域：非结构化环境，四足机器人立体视觉导航．
王润孝（1957- ），男，教授，博士生导师．研究领域：机床数控系统，四足机器人．
冯华山（1975- ），男，博士，助教．研究领域：机器人仿生运动控制．

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https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2011/V33/I1/119

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