服务机器人智能空间中QR Code人工地标的设计、定位与识读  

Design,localization and recognition of the QR code-based artificial landmark in service robot intelligent space

作　　者：李国栋[1,2] 田国会[1] 王洪君[2] 周风余[1] 吴皓[1] 

机构地区：[1]山东大学控制科学与工程学院,济南250061 [2]山东大学信息科学与工程学院,济南250100

出　　处：《高技术通讯》2013年第12期1275-1283,共9页Chinese High Technology Letters

基　　金：863计划(2006AA040206;2009AA042220);国家自然科学基金(61075092);山东省自然科学基金(ZR2011FM011);山东大学自主创新基金(2011JC017)资助项目

摘　　要：研究了服务机器人智能空间中QR Code人工地标的设计、定位与视觉伺服识读问题。首先设计了一种基于QR Code技术的新型人工地标,并利用世界平面的单应分解方法得到了机器人上所搭载摄像机相对人工地标坐标系的位置和姿态信息,然后建立了移动机器人的运动学模型,并采用一种令机器人作纯旋转运动的简便方法实现了机载摄像机坐标系相对移动机器人坐标系的外参数的标定,最后设计了基于位置的视觉伺服识读算法来控制移动机器人完成对QR Code内存储的丰富信息的读取。实验结果表明,该人工地标识别距离远,定位精度高,且所设计的识读算法简单有效。The design,localization and visual servo recognition of the QR code-based artificial landmark in service robot intelligent space were investigated. Firstly, a new kind of artificial landmark based on the QR code technique was designed,and the decomposition of homography from a world plane was adopted to acquire the position and pose （ relative to the landmark frame） informantion of the camera on a service robot. Then a kinematic model for mobile robots was constructed, and a convenient method was used to calibrate the camera＇ s extrinsic parameters relative to the mobile robot frame. Finally a position-based visual servoing recognition algorithm was deduced to control mobile robots to finish the recognition of the environmental information stored in QR Code landmarks. The experimental resuits showed that the artificial landmark designed in this study had the farther recognition distance and the higher positioning accuracy, and the control scheme was simple but efficient.

关 键 词：视觉伺服 外参数标定 QR CODE 服务机器人智能空间 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]