新型人工地标的设计、识别、定位及应用

人工地标是机器人定位与导航的重要辅助手段。设计了一种基于QR Code(quick response code)技术的新型人工地标,该地标不仅能存储丰富的环境信息,还能为机器人提供有效的方位信息。为了让机器人能够在远距离找到人工地标,设计了基于颜色和形状的快速识别算法。利用消影线原理设计了定位算法,可在机器人摄像机坐标系中快速、准确地定位人工地标。给出了机器人远距离搜寻、识别、定位及读取人工地标的控制方案,为机器人自主定位及导航奠定了基础。实验表明,该人工地标识别距离远、识别速度快、定位精度高,在复杂室内环境下仍能有很高的识读效率和很好的稳定性。

Design, recognition, localization and application of a new artificial landmark

The artificial landmark is an important auxiliary method for robot localization and navigation.A kind of new artificial landmark based on QR Code(quick response code) technology was proposed.This new landmark not only stores rich environment information,but also provides effective pose information to the robot.An algorithm based on shape and color of the landmark was presented in order that the landmark could be recognized by the robot in the far distance.The localization algorithm using the vanishing line ...