Distributed environment representation and object localization system in intelligent space  

作　　者：Yinghua XUE Guohui TIAN Baoye SONG Taotao ZHANG 

机构地区：[1]School of Control Science and Engineering, Shandong University, Jinan Shandong 250061, China [2]School of Computer and Information Engineering, Shandong University of Finance, Jinan Shandong 250014, China

出　　处：《控制理论与应用（英文版）》2012年第3期371-379,共9页

基　　金：supported by the National High Technology Research and Development Program of China(No.2009AA04Z220);the National Natural Science Foundation of China(No.61075092)

摘　　要：A kind of new environment representation and object localization scheme is proposed in the paper aiming to accomplish the task of object operation more efficiently in intelligent space. First, a distributed environment represen- tation method is put forward to reduce storage burden and improve the system＇s stability. The layered topological maps are separately stored in different landmarks attached to the key positions of intelligent space, so that the robot can search the landmarks on which the map information can be read from the QR code, and then the environment map can be built autonomously. Map building is an important prerequisite for object search. An object search scheme based on RFID and vision technology is proposed. The RFID tags are attached to the target objects and reference objects in the indoor environ- ment. A fixed RFID system is built to monitor the rough position （room and local area） of target and a mobile RFID system is constructed to detect the targets which are not in the covering range of the fixed system. The existing area of target is determined by the time sequence of reference tags and target tags, and the accurate position is obtained by onboard vision system at a short distance. The experiments demonstrate that the distributed environment representation proposed in the paper can fully meet the requirements of object localization, and the positioning scheme has high search efficiency, high localization accuracy and precision, and a strong anti-interference ability in the complex indoor environment.A kind of new environment representation and object localization scheme is proposed in the paper aiming to accomplish the task of object operation more efficiently in intelligent space. First, a distributed environment represen- tation method is put forward to reduce storage burden and improve the system＇s stability. The layered topological maps are separately stored in different landmarks attached to the key positions of intelligent space, so that the robot can search the landmarks on which the map information can be read from the QR code, and then the environment map can be built autonomously. Map building is an important prerequisite for object search. An object search scheme based on RFID and vision technology is proposed. The RFID tags are attached to the target objects and reference objects in the indoor environ- ment. A fixed RFID system is built to monitor the rough position （room and local area） of target and a mobile RFID system is constructed to detect the targets which are not in the covering range of the fixed system. The existing area of target is determined by the time sequence of reference tags and target tags, and the accurate position is obtained by onboard vision system at a short distance. The experiments demonstrate that the distributed environment representation proposed in the paper can fully meet the requirements of object localization, and the positioning scheme has high search efficiency, high localization accuracy and precision, and a strong anti-interference ability in the complex indoor environment.

关 键 词：Intelligent space Distributed map representation Object localization Artificial landmark RFID 

分 类 号：TP393.4[自动化与计算机技术—计算机应用技术] U666.73[自动化与计算机技术—计算机科学与技术]