用于移动机器人自定位的视觉路标设计

为了实现室内移动机器人的自定位,提出了一种简易美观的新型视觉人工路标以及基于对数极坐标系投影直方图的路标识别方法,并用基于共面四点的位姿估计算法计算机器人位姿。实验结果说明,路标检测具有很高的鲁棒性;路标识别方法抗噪声和形变的能力强;位姿精度足够满足室内移动机器人自定位的需要。

In order to realize self-localization of the indoor mobile robot,a new simple and unobtrusive visual arti?cial landmark is presented,and the recognition method of the landmark based on projective histogram of the log-polar image is presented,and the position and orientation of the robot is calculated by four coplanar points of the landmark.The experiment results prove that detecting the arti cial landmark provides very high robustness,and recognition of the landmark is robust to noise and distortion,and the preci-sion of the position and orientation of the robot,can meet the demand of the indoor mobile robot self-localization very well.

国家863计划重点项目:机器人模块化体系结构设计(2007AA041700)