基于有限范围内自发光特征物的机器人双目定位研究  

Binocular location of robots based on limited range self-luminescent features

作　　者：王强[1] 王国庆[1] 杨康 梁思瑞 王明圣 WANG Qiang;WANG Guoqing;YANG Kang;LIANG Sirui;WANG Mingsheng(School of Engineering Machinery,Chang'an University,Xi'an 710064,China)

机构地区：[1]长安大学工程机械学院,西安710064

出　　处：《智能计算机与应用》2020年第3期27-31,共5页Intelligent Computer and Applications

基　　金：陕西省工业攻关项目(2016GY-003)。

摘　　要：针对室内光照多变对机器视觉带来的不良影响所造成的室内机器人难定位的问题,提出了基于固定自发光特征物的双目定位算法设计,实现了机器人在室内环境中的定位。针对视觉定位算法实时性不高、处理数据量大的问题,通过预先建立数据库的方法避开复杂的计算,提高了视觉定位速度。具体而言,建立了固定特征物投影模型,实现了特征物模型的建立和对应数据库的生成,将特征点像素坐标与投影平面坐标进行匹配,并将相机在环境坐标系中的位姿转换为运动平台在环境坐标系中的位姿,实现了运动平台在室内环境中的定位。最终经过测试,证明该方法是可行的。Aiming at the problem that indoor robots are difficult to locate due to the adverse effects of indoor illumination on machine vision,a binocular localization algorithm based on fixed self-luminous features is proposed,which realizes the localization of robots in indoor environment.Aiming at the problem of low real-time performance and large amount of data processing of visual localization algorithm,the method of pre-establishment of database avoids complex calculation and improves the speed of visual localization.Specifically,the projection model of fixed feature is established,the establishment of feature model and the generation of corresponding database are realized,the pixel coordinates of feature points are matched with the projection plane coordinates,and the pose of camera in the environment coordinate system is converted to that of the motion platform in the environment coordinate system,thus realizing location of indoor environment of the motion platform in the environment coordinate system.Finally,the test results show that the method is feasible.

关 键 词：室内移动机器人 双目定位 自发光特征物 双目定位算法 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]