基于地标的室内移动机器人立体视觉定位

2012 Second International Conference on Intelligent System Design and Engineering Application Pub Date : 2012-01-06 DOI:10.1109/ISDEA.2012.640

Hui Zhang, Lingtao Zhang, Jing Dai

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引用次数: 11

摘要

提出了一种基于地标的室内移动机器人定位算法。为了快速导航，设计了一种易于识别，便于延伸的地标。由于存在噪声误差，单地标计算移动机器人位置不精确，提出了一种多地标定位移动机器人的方法。移动机器人在移动时测量地标的方向。目标地标会根据机器人的情况而改变。机器人通过地标的方向和移动距离来估计自己的位置。实验结果表明，所提出的地标模型是有效的，能够实现准确的定位。

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Landmark-Based Localization for Indoor Mobile Robots with Stereo Vision

This article presented a localization algorithm of indoor mobile robot based on landmark. In order to navigate swiftly, one kind of landmark is designed, which is apt to recognize, convenient to extend. Because of noise error, the position of mobile robot calculated by single landmark is imprecise, so a method for localization of mobile robots was proposed by multiple landmarks. A mobile robot measures directions of landmarks while moving. Target landmarks are changed depending on the situation of the robot. The robot estimates its position by the directions of the landmarks and its moving distance. Experimental results show that the proposed landmark model is effective and achieved accurate localization.

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来源期刊

2012 Second International Conference on Intelligent System Design and Engineering Application

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