新型人工地标的设计、识别、定位及应用  

Design,recognition,localization and application of a new artificial landmark

作　　者：姜海涛[1] 田国会[1] 薛英花[1] 李荣宽[1] 

机构地区：[1]山东大学控制科学与工程学院,山东济南250061

出　　处：《山东大学学报（工学版）》2011年第2期107-113,118,共8页Journal of Shandong University（Engineering Science）

基　　金：国家高技术研究发展计划(863计划)资助项目(2006AA040206;2009AA04Z220)

摘　　要：人工地标是机器人定位与导航的重要辅助手段。设计了一种基于QR Code(quick response code)技术的新型人工地标,该地标不仅能存储丰富的环境信息,还能为机器人提供有效的方位信息。为了让机器人能够在远距离找到人工地标,设计了基于颜色和形状的快速识别算法。利用消影线原理设计了定位算法,可在机器人摄像机坐标系中快速、准确地定位人工地标。给出了机器人远距离搜寻、识别、定位及读取人工地标的控制方案,为机器人自主定位及导航奠定了基础。实验表明,该人工地标识别距离远、识别速度快、定位精度高,在复杂室内环境下仍能有很高的识读效率和很好的稳定性。The artificial landmark is an important auxiliary method for robot localization and navigation.A kind of new artificial landmark based on QR Code（quick response code） technology was proposed.This new landmark not only stores rich environment information,but also provides effective pose information to the robot.An algorithm based on shape and color of the landmark was presented in order that the landmark could be recognized by the robot in the far distance.The localization algorithm using the vanishing line principle was designed to locate the artificial landmark quickly and accurately in the camera coordinates of the robot.A control scheme including searching in the far distance,recognition,localization and reading landmarks was proposed,which laid a solid foundation for robot autonomous localization and navigation.Experiments demonstrated that the new landmark had far recognition distance,high recognition speed,high positioning precision,high decoding efficiency and stability even in a complex indoor environment.

关 键 词：人工地标 QRCode 消影线 机器人定位与导航 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]