双目视觉在移动机器人定位中的应用  

Application on Binocular Vision System of a Mobile Robot

作　　者：王殿君[1] 

机构地区：[1]北京石油化工学院,北京102617

出　　处：《中国机械工程》2013年第9期1155-1158,共4页China Mechanical Engineering

基　　金：国家高技术研究发展计划(863计划)资助项目(2007AA04Z255);北京市属高等学校人才强教深化计划资助项目(PHR201008355;PHR200907221)

摘　　要：为采用双目视觉进行室内移动机器人定位,开发了一种室内移动机器人定位系统。介绍了双目视觉在机器人定位中的原理,采用移动机器人和MicronTracker视觉系统构建了定位实验系统,进行了测距实验,并分析了测距精度,最大误差为8.644mm,在此基础上进行了移动机器人双目视觉定位实验。实验结果表明,双目视觉定位最大偏差为3.635cm,定位精度较高而且系统稳定性好,受环境因素影响小,可满足机器人的定位精度要求。In order to use binocular vision for indoor mobile robot localization, a mobile robot lo- calization system was developed, and the principles of binocular vision localization were analyzed. The experimental system was established with MieronTracker vision system and mobile robot. The dis- tance experiment of binocular vision was given, and ranging precision was analyzed, then the worst deviation is as 8. 644mm. On the basis of above work, mobile robot localization tests show that binoc- ular vision localization worst deviation is as 3. 635cm. The system has higher precision, stability and less affect by environment, which can meet the positioning requirements of mobile robot.

关 键 词：双目视觉 移动机器人 视觉定位 定位精度 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]