基于视觉的室内移动机器人方向确定

5th IEEE International Conference on Digital Ecosystems and Technologies (IEEE DEST 2011) Pub Date : 2011-06-30 DOI:10.1109/DEST.2011.5936617

Yeoun-Jae Kim, Minho Park, Dong-Hyun Lee, Joon-Yong Lee, Jujang Lee

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引用次数: 4

摘要

本文定义了一种基于视觉的室内环境移动机器人方向确定方法，用于检测室内环境中机器人垂直于周围墙壁的方向。为此，我们提出了基于Hough变换和基于视觉信息的水平线搜索的方向确定算法。我们的方案表明，这种方案可以在任何有水平线结构的室内环境中使用(角落，墙上的任何通知)。为了验证所提出的算法，我们利用网络摄像头作为视觉传感器在移动机器人上进行了实验。实验结果表明，该方法可以自动确定移动机器人在室内环境下的纵向路径方向，验证了该方法的有效性。

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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Vision-based direction determination of a mobile robot in indoor environment

In this paper, a vision based direction determination of a mobile robot in indoor environment is defined to detect the robot direction normal to the surrounding wall in indoor environment. For this purpose, we propose the direction determination algorithm using the Hough transformation and horizontal line search with vision information. Our proposal shows that this scheme can be used in any indoor environment where there are horizontal line structures (corner, any notice on the wall). In order to verify the proposed algorithm, we perform the experiments by the mobile robot utilizing a webcam as a vision sensor. The experimental results show that this method is verified for navigation of a mobile robot in indoor environment since its longitudinal pathway direction can be determined automatically.

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5th IEEE International Conference on Digital Ecosystems and Technologies (IEEE DEST 2011)

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