Service Robot Localization Based on Global Vision and Stereo Vision  

作　　者：于清晓 闫维新 付庄 赵言正 

机构地区：[1]State Key Laboratory of Mechanical System and Vibration,Shanghai Jiaotong University [2]State Key Laboratory of Robotics and System,Harbin Institute of Technology

出　　处：《Journal of Donghua University(English Edition)》2012年第3期197-202,共6页东华大学学报（英文版）

基　　金：National Natural Science Foundations of China ( No. 61105101,No. 61075086,No. 60875058 );Hi-Tech Research and Development Programs of China ( No. 2007AA041601,No. 2007AA041602,No. 2007AA041603 );State Key Laboratory of Robotics and System ( HIT) ,China ( No. SKLRS-2010-ZD-06);New Centrury Excellent Talents in University,China

摘　　要：To satisfy different positioning accuracy demand in the movement of the service robot, a hierarchical localization method based on vision was proposed considering the positioning cost and computational efficiency. The hierarchical positioning method could be divided into two parts: the localization method based on global vision and the localization method based on binocular vision. The global vision-based localization method was applied to calculate the initial coordinates of the robot and realize real-time rough positioning with the dead-reckoning method in the first stage. In the last stage, the binocular vision-based localization method was adopted to obtain higher positioning accuracy to make sure that the service robot can successfully grab the object. Experiments indicate that the proposed algorithm can accurately evaluate the positioning performance, obtain up to ±2 cm positioning accuracy, and absolutely meet the positioning requirements of the indoor service robot.To satisfy different positioning accuracy demand in the movement of the service robot, a hierarchical localization method based on vision was proposed considering the positioning cost and computational efficiency. The hierarchical positioning method could be divided into two parts： the localization method based on global vision and the localization method based on binocular vision. The global vision-based localization method was applied to calculate the initial coordinates of the robot and realize real-time rough positioning with the dead-reckoning method in the first stage. In the last stage, the binocular vision-based localization method was adopted to obtain higher positioning accuracy to make sure that the service robot can successfully grab the object. Experiments indicate that the proposed algorithm can accurately evaluate the positioning performance, obtain up to ±2 cm positioning accuracy, and absolutely meet the positioning requirements of the indoor service robot.

关 键 词：service robot hierarchical positioning binocular vision LOCALIZATION 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]