基于彩色图像的移动机器人定位  

COLOR IMAGE BASED LOCALIZATION FOR MOBILE ROBOTS

作　　者：吴卫国[1] 陈辉堂[1] 王月娟[1] 张秀华[1] 

机构地区：[1]同济大学电气工程系,上海200092

出　　处：《机器人》1999年第5期340-346,共7页Robot

基　　金：国家自然科学基金;上海市自然科学基金

摘　　要：本文利用彩色图像对移动机器人进行定位，将颜色由 Ｒ Ｇ Ｂ 空间转换到 Ｈ Ｓ Ｉ空间中，颜色成为图像的唯一特征，简化了图像的特征抽取，大大提高了图像的处理速度和特征抽取的鲁棒性．在结构上采用全局静态视觉，避免了对摄像机的控制，并使得定位时在环境中只需一个着色标记．在移动机器人运动过程中，利用动态窗口进一步减少数据处理量．考虑视觉系统的延时，推广卡尔曼滤波完成视觉与推算航行数据的融合．该定位方法已成功地应用于我们研制的移动机器人控制系统中，效果良好．We have developed an efficient method for localizing a mobile robot based on a color image. The color image is transformed from RGB space into HSI space. The color becomes the unique feature in the image. It simplifies feature extraction in images and improves greatly the image processing speed and the robustness of extracting features. In structure, the adoption of global static vision system avoids controlling the camera. Furthermore, a single colored cue in an environment is enough for localizing the mobile robot. During the motion of the mobile robot, the processing data is further reduced by using dynamic window. Extended Kalman filter is employed to fuse the visual data and the dead reckoning data considering the time delay caused by image processing. Experiment results exhibit the validity and the effectiveness of the proposed method.

关 键 词：移动机器人 定位 智能机器人 控制系统 彩色图像 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]