基于全景视觉的移动机器人地图创建与定位  

Mobile robot map building and localization based on omni-vision

作　　者：李海[1] 陈启军[1] 

机构地区：[1]同济大学电子信息工程学院,上海201804

出　　处：《控制与决策》2014年第2期215-220,共6页Control and Decision

基　　金：中日政府国际合作项目(2010DFA12210);上海曙光跟踪计划项目(10GG11)

摘　　要：提出一种高效的基于全景视觉的室内移动机器人地图构建和定位方法.该方法充分利用全景视觉系统视野广阔、获取环境信息完整的特点,根据全景图像生成环境描述子;利用上述环境描述子描述环境,创建拓扑地图,将地图表示为环境描述子的集合.在此基础上,提出一种基于贝叶斯理论的定位方法,根据当前全景摄像头的观测值,利用已生成的地图完成状态跟踪,全局定位和"绑架"定位.最后通过实验验证了该方法的有效性,并给出了计算成本分析.A method with low computational cost is proposed to solve the map building and localization problems. Based on omni-vision which can provide rich environment information, this method constructs a descriptor for each environment point. Then a topology map is made as a set of environment descriptors. In the meantime, a Bayesian based localization algorithm, which uses such onmi-vision based topology map, is presented. This algorithm can solve different kinds of localization problems, even the hardest ＂kidnapping＂ localization problem. The experimental results show the effectiveness and feasibility of the proposed method.

关 键 词：移动机器人 全景视觉 环境描述子 地图创建 定位 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]