全景视觉在机器人自主定位中的应用  

Application of omni-vision in robot independent localization

作　　者：陆军[1] 穆海军[1] 朱齐丹[1] 杨明[1] 

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001

出　　处：《计算机应用》2007年第7期1677-1679,共3页journal of Computer Applications

摘　　要：研究一种基于全景视觉的机器人自主定位的方法。利用光学视觉原理,设计了一种全景视觉传感器,从而获得机器人周围环境的全方位景物的图像。通过去除全景图像的噪声、分割颜色阈值、计算中心点等处理,识别出机器人周围景物的已知路标,采用三角定位法,计算出机器人的坐标,从而为机器人的导航、避碰等任务奠定良好的基础。实验结果表明,此方法对于机器人自主定位具有一定的可行性。A method based on the omni-vision was studied for the self-location of mobile robot. According to optical principle, the omni-vision sensor was designed. By using the omni-vision sensor, robot＇s panoramic image in working environment was obtained. With the aid of noise reduction, color threshold segmentation and center point computation and so on, the landmarks in the panoramic image were recognized. By using triangulation method, the robot＇s position was obtained, which was a good basis for the navigation and the collision of robot. Experimental results prove that the method is feasible for the self-location of mobile robot.

关 键 词：全景视觉 移动机器人 路标识别 图像处理 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]