Realtime 2D code based localization for indoor robot navigation

2013 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2013-12-01 DOI:10.1109/ROBIO.2013.6739507

B. Dzodzo, Long Han, Xu Chen, Huihuan Qian, Yangsheng Xu

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引用次数: 16

Abstract

In this paper ceiling affixed ARToolKitPlus 2D code artificial landmarks are evaluated for purposes of robot localization and navigation. Ceiling affixed codes rarely come in contact with people, equipment or robots, and for this reason they are more likely to stay detectable over a longer period of time. Multi threshold averaging, light gradient compensation and neighbourhood search techniques further enhanced AR-ToolKitPlus performance. Multi threshold averaging collects positioning results at each gray scale threshold level. After all of the threshold levels are analyzed, the related results are averaged into a final result. Light gradient compensation eliminates effects of uneven lighting in the neighbourhood of a 2D code. Neighbourhood search for a 2D code requires fewer computational resources than a global search. Further repeatability improvements are achieved by means of averaging localizations. Localization performance is evaluated at varying distances of the 2D code from the camera. Experimental results show substantial improvements in repeatability and reliability over the baseline ARToolKitPlus performance. Improved performance will allow for realtime 2D code based localization for indoor robot navigation.

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基于实时二维码的室内机器人导航定位

本文对天花板上粘贴的ARToolKitPlus二维码人工地标进行评估，用于机器人定位和导航。天花板上贴的代码很少与人、设备或机器人接触，因此它们更有可能在较长一段时间内被发现。多阈值平均、光梯度补偿和邻域搜索技术进一步增强了AR-ToolKitPlus的性能。多阈值平均收集每个灰度阈值级别的定位结果。在分析了所有阈值水平之后，将相关结果平均为最终结果。光梯度补偿消除了在二维代码附近的不均匀照明的影响。二维代码的邻域搜索比全局搜索需要更少的计算资源。通过平均定位，进一步提高了可重复性。定位性能是在2D代码与相机的不同距离上进行评估的。实验结果表明，与基线ARToolKitPlus性能相比，可重复性和可靠性有了实质性的提高。改进的性能将允许室内机器人导航基于实时2D代码的定位。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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