移动机器人全向摄像头定位研究

2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings. Pub Date : 2004-08-26 DOI:10.1109/ICIMA.2004.1384277

W. Liang, Zhu Qidan, Liu Zhou

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引用次数: 0

摘要

本文提出了一种基于视觉的移动机器人全向摄像头在室内环境中的定位方法。全向相机由传统相机和凸面镜组成。它具有较大的视野，这进一步减少了表示位置所需的图像数量。介绍了全向相机的性能、抗几何特性。介绍了三角定位的原理。我们利用三角定位和全方位图像处理得到的数据来实现机器人定位。在室内环境下，利用装有全向摄像头的移动机器人进行了初步定位实验。实验结果表明，该方法具有良好的性能。

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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Location research of mobile robot with an omni-directional camera

In this paper, we propose a method for the visual-based location of a mobile robot with an omni-directional camera in indoor environment. Omni-directional camera is composed of conventional camera and convex mirror. It has large field of view, which further reduces the number of images necessary to represent a location. The stmctnre, p~operty anti geometry of the omni-directional camera are presented. The principle of trigonometric location is also presented. We use trigonometric location and data derived from omni-directional image processing to realize robot location. Preliminary location experiments with a mobile robot equipped with an omni-directional camera in indoor environment are performed. The result of experiments shows that the proposed method has good performance.

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2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.

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