A visual self-positioning method for inspection robot based on symmetrical tangential artificial landmarks

The artificial landmark positioning technology is one of the visual positioning methods of the inspection robot. Although this technology has simple algorithm and low maintenance cost, it is difficult to be widely used due to the limitations in some special environment. For example, people are not allowed to set a large number of landmarks on the ground in some workshops. In this paper, we propose a visual self-positioning method based on the symmetrical tangential artificial landmarks. The basic idea of this method is: firstly, a small number of tangential artificial landmarks are set on the walls or machine tools on both sides, secondly, the perspective model and triangulation method are used to realize the self-positioning of the inspection robot. The experimental results show that the method is simple to operate and has high positioning accuracy, which can meet the needs of the inspection robot.