基于立体视觉测量的移动机器人导航技术研究  

Research on Mobile Robot Navigation Technology Based on Stereo Vision Measurement

作　　者：唐文秀[1] 刘萍洋 赵偲宇[2] 梁小伟[1] 

机构地区：[1]东北林业大学机电工程学院,哈尔滨150040 [2]哈尔滨工业大学建筑学院,哈尔滨150006

出　　处：《森林工程》2013年第6期102-105,119,共5页Forest Engineering

摘　　要：立体视觉测量是机器视觉的重要分支,已经在视觉检测、医学辅助治疗和月球车导航等领域获得了应用。本文对于移动机器人立体视觉导航的全过程进行研究,分析立体视觉测量信息到真实三维景物信息的计算、人工势场法进行路径规划这两项关键技术。实验结果表明,本文提出的方法可以为移动机器人准确导航。The stereo vision measurement is an important branch of the machine vision, which has been used in the field of vision, medical treatment, and lunar rover navigation. This paper studies the whole process of mobile robot visual navigation, and analyzes two key technology of path planning including the artificial potential field method and stereo vision measurement information to the real 3 D scene information. The experimental results show that the method proposed in this paper can accurately provide navigation service for mobile robots.

关 键 词：立体视觉 移动机器人 路径规划 人工势场法 

分 类 号：S776[农业科学—森林工程] TP242.6[农业科学—林学]