仿人足球机器人的单目视觉自定位

CONIELECOMP 2011, 21st International Conference on Electrical Communications and Computers Pub Date : 2011-04-11 DOI:10.1109/CONIELECOMP.2011.5749378

J. Zannatha, Rafael Cisneros Limón, Ángel David Gómez Sánchez, Eric Hernández Castillo, L. E. Medina, Felipe J. K. Lara Leyva

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引用次数: 9

摘要

提出了一种仿人机器人的视觉自定位方法。这是基于单目信息。此方法的目标是获得位置(x;Y)和运动场地内人形机器人的方向θ。提出的方法包括一些数字图像处理算法和几何解释，以执行三维单目重建，允许测量机器人与一些已知物体(目标和信标)之间的相对位置，并使用它们获得机器人的绝对位置，通过三角测量方法。最后，给出了在Webots和真实平台上的实验结果。

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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Monocular visual self-localization for humanoid soccer robots

In this paper a visual self-localization method for a humanoid robot is presented. This one is based on monocular information. The goal of this method is to obtain the position (x; y) and orientation θ of the humanoid robot inside the field of play. The methods proposed include some digital image processing algorithms and geometric interpretation to perform a 3D monocular reconstruction, that allows to measure the relative position between the robot and some known objects (goals and beacons), and to use them to obtain the robot's absolute position, by means of a triangulation method. Finally, the results obtained in Webots and in the real platform are presented.

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CONIELECOMP 2011, 21st International Conference on Electrical Communications and Computers

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