| 基于单应性矩阵的室内移动机器人视觉定位研究 |
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| 引用本文： | 徐德,涂志国,谭民.基于单应性矩阵的室内移动机器人视觉定位研究[J].自动化学报,2005,31(3):464-469. |
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| 作者姓名： | 徐德 涂志国 谭民 |
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| 作者单位： | 1.Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100080 |
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| 基金项目： | 国家高技术研究发展计划(863计划) |
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| 摘 要： | Monocular visual positioning for indoor mobile robot is concerned in this paper. A new visual positioning method based on homography matrix in Euclidean space is proposed. It can calculate the position and pose of the mobile robot according to the intrinsic parameters of camera and two position-known points in a plane. It is very simple and low cost in computation. The experimental results show its effectiveness.
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| 关 键 词： | Mobile robot visual positioning homography matrix |
| 收稿时间： | 2003-8-26 |
| 修稿时间： | 2004-5-28 |
Study on Visual Positioning Based on Homography for Indoor Mobile Robot |
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| XU De,TU Zhi-Guo,TAN Min.Study on Visual Positioning Based on Homography for Indoor Mobile Robot[J].Acta Automatica Sinica,2005,31(3):464-469. |
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| Authors: | XU De TU Zhi-Guo TAN Min |
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| Affiliation: | 1.Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100080 |
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| Abstract: | Monocular visual positioning for indoor mobile robot is concerned in this paper. A new visual positioning method based on homography matrix in Euclidean space is proposed. It can calculate the position and pose of the mobile robot according to the intrinsic parameters of camera and two position-known points in a plane. It is very simple and low cost in computation. The experimental results show its effectiveness. |
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| Keywords: | Mobile robot visual positioning homography matrix |
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