| 融合异质传感信息的机器人粒子滤波定位方法 |
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| 引用本文： | 刘洞波,刘国荣,喻妙华.融合异质传感信息的机器人粒子滤波定位方法[J].电子测量与仪器学报,2011,25(1):38-43. |
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| 作者姓名： | 刘洞波 刘国荣 喻妙华 |
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| 作者单位： | 湖南大学电气与信息工程学院;湖南工程学院计算机与通信学院; |
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| 基金项目： | 湖南省自然科学-湘潭联合研究基金(编号:09JJ8006)资助项目 |
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| 摘 要： | 针对机器人采用视觉传感器和激光测距传感器单独定位的缺陷,提出一种融合视觉传感器和激光测距传感器感知信息的移动机器人Monte Carlo自定位方法.视觉目标识别过程中,只采用激光测距信息单独进行粒子集更新; 当视觉目标识别完成,利用码盘信息对视觉定位信息进行修正,然后融合激光测距信息进行粒子集的同步更新.视觉信息的全局...
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| 关 键 词： | 移动机器人 Monte Carlo算法 信息融合 自定位 |
Method of particle filter localization of robot based on heterogeneous sensor information fusion |
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| Liu Dongbo,Liu Guorong,Yu Miaohua.Method of particle filter localization of robot based on heterogeneous sensor information fusion[J].Journal of Electronic Measurement and Instrument,2011,25(1):38-43. |
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| Authors: | Liu Dongbo Liu Guorong Yu Miaohua |
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| Affiliation: | Liu Dongbo1,2 Liu Guorong1,2 Yu Miaohua2(1.College of Electrical and Information Engineering,Hunan University,Changsha 410082,China,2.Dept.of Computer and Communication,Hunan Institute of Engineering,Xiangtan 411104,China) |
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| Abstract: | To deal with the localization disadvantage of robot only equipped with monocular camera or LRF(laser range finder sensor),a novel Monte Carlo method based on monocular camera and LRF sensor information fusion is proposed.During the vision object recognition,particle sets is updated by LRF sensor information;and the vision object recognition completed,the vision sensor information modified by the encoders is fused with that from LRF sensor information to synchronously update particle sets.Both monocular came... |
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| Keywords: | mobile robot Monte Carlo algorithm information fusion self-localization |
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