基于折反射成像原理的机器人自定位  

Robot independent localization based on central catadioptric imaging

作　　者：梁燕华 蔡成涛[2] 周裕 

机构地区：[1]黑龙江科技大学电气与控制工程学院,哈尔滨150022 [2]哈尔滨工程大学自动化学院,哈尔滨150001

出　　处：《黑龙江科技大学学报》2017年第3期293-296,302,共5页Journal of Heilongjiang University of Science And Technology

基　　金：黑龙江省教育厅科学技术研究项目(12541725)

摘　　要：为了实现煤矿环境探测救灾机器人的自主行走,研究一种利用单视点折反射成像系统进行机器人自定位的算法。应用全景成像系统,结合已知的人工路标,获得机器人周围360°景物的图像。对采集的图像进行处理,识别机器人周围的人工路标,获得路标距离全景图像中心的距离。根据单视点折反射成像原理,计算机器人与路标的相对位置,从而实现煤矿井下机器人导航、避碰等目标。实验结果表明,该算法可以应用于机器人自主定位。This paper is motivated by an attempt to realize the autonomous walking of disaster detection and relief robots designed for coal mine environment and introduces an algorithm for robot self localization using single view catadioptric imaging system,an algorithm capable of obtaining 360 degree images of objects around the robot by applying a panoramic imaging system and combined with the known artificial landmark. The algorithm works by processing the collected images,recognizing artificial landmarks around robots,and obtaining the distance of the landmarks from the center of the panoramic image; and then using the principle behind the single view catadioptric imaging to calculate the relative positions of robot and road sign and thereby realizing the navigation and collision avoidance of underground robots.The experiment indicates that the algorithm could work better for the self-location for mobile robots.

关 键 词：煤矿救灾机器人 全景视觉 机器人自定位 单视点折反射 目标识别 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]