基于视觉和里程计信息融合的移动机器人自定位  

Self-localization of Mobile Robot Based on Vision and Odometer

作　　者：罗真[1] 曹其新[1] 

机构地区：[1]上海交通大学机器人研究所,上海200030

出　　处：《机器人》2006年第3期344-349,共6页Robot

基　　金：国家自然科学基金资助项目(60443007)

摘　　要：受鸽子定向启发,将装备有全维视觉和里程计等传感器的自主移动机器人的自定位分为两种模式:全维视觉定位模式和里程计定位模式.机器人依据一定准则选择具体的主导定位模式:先试视觉定位,若视觉定位不可得或获得的视觉定位不可靠,则采用里程计定位.针对标记物信息失真问题,应用初步视觉定位结果反推标记物理论值,然后通过比较从原始图像中分离出的可能的标记物信息和反推出来的标记物信息理论值,滤除不可靠的视觉定位.针对运动过程中的机器人自定位,分析了影响定位准确性的信息时间延迟因素.Inspired by orientation sensation of pigeon, we divide the self-localization approach of mobile robot with omnivision and odometer into two modes： mode based on omni-vision and mode based on odometer. The robot selects its concrete self-localization mode at certain time according to a certain rule. Firstly, the robot attempts to use the omni-vision information to localize itself. If there is not enough vision information to localize itself, or the reliability of the omni-vision based self-localization cannot be accepted, the robot uses the odometer information to localize itself. For the problem of landmark information distortion, it calculates the theoretic values of landmarks based on the initial visual self-localization results, and compares the theoretic values with the possible values of landmarks extracted from the raw images to filter out the unreliable vision-based self-localization. To gain exact self-localization of moving robot, factors of time delay that affect the precision of self-localization is analyzed.

关 键 词：自定位 移动机器人 全维视觉 里程计 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]