基于基准标记的移动机器人室内定位

Proceedings of the III Brazilian Humanoid Robot Workshop (BRAHUR) and IV Brazilian Workshop on Service Robotics (BRASERO) Pub Date : 1900-01-01 DOI:10.29327/118637.1-4

Etevaldo Cardoso, M. Reis, G. Santos

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引用次数: 1

摘要

这项工作旨在使用基准标记来定位室内机器人，使用模拟环境作为测试工具。开发了一个具有分散基准标记的环境，使机器人能够在里程表传感器的参考系下识别并重新计算其位置。结果表明，该方法适用于室内环境，计算成本低，有利于地标的可读性，与其他方法相比，具有较高的机器人定位精度。

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Indoor localization for mobile robots using fiducial markers

The work aimed to use fiducial markers to locate a robot indoors using a simulation environment as a testing tool. An environment with scattered fiducial markers was developed for the robot to identify and be able to recalculate its position with the odometer sensors reference frame. It was observed that this method applied for indoor environments has a low computational cost, caused for the readability of the landmarks, and a high accuracy in robot localization compared to other methods.

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Proceedings of the III Brazilian Humanoid Robot Workshop (BRAHUR) and IV Brazilian Workshop on Service Robotics (BRASERO)

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