基于单目视觉的移动机器人导航方法  

Navigation method of the monocular vision based mobile robot

作　　者：董吉文[1] 杨森[1] 鲁守银[2] 

机构地区：[1]济南大学信息科学与工程学院,山东济南250022 [2]山东电力研究院,山东济南250002

出　　处：《山东大学学报（理学版）》2008年第11期1-4,10,共5页Journal of Shandong University(Natural Science)

基　　金：国家“863计划”资助项目(2002AA420110-3);国家电网公司重点科研资助项目(SGKJ[2007]159)

摘　　要：针对光照强度大范围变化的室外复杂道路环境下移动机器人视觉导航问题,提出了一种新的基于彩色图像处理的单目机器人导航方法。对于预先设置的引导轨线和停靠位标识,通过HSI模型对图像进行颜色分割和数学形态学处理,提取出导航目标和识别停靠位标识,并用"采样估算"的方法计算导航参数。实验表明此方法获取的导航参数受光照和地面环境的影响不大,且偏离导航线误差较低,具有较好的实时性和鲁棒性。Due to the complex floor circumstances of the outdoors and the greatly changed intensity of hght, the visual navigation of a mobile robot is still a problem. A new monocular robot＇ s navigation method based on color image processing was proposed for solving this problem. By use of the image partition of the HSI model and mathematic morphology, the trajectory was picked out and the stop-sign drawn was recognized beforehand from the image. Then the ＂sampling estimated＂ method has used to calculate the parameters of navigation. According to the experiment this method is less impacted by light and floor circumstance, less error of aberrancy, better real-time and robustness.

关 键 词：单目视觉 轨线引导 彩色图像分割 停靠位标识 采样估算 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]