基于直线和单特征点的移动机器人视觉推算定位法

提出了一种基于直线和单特征点的视觉推算定位方法．将摄像机固定安装在移动机器人上，并使摄像机的方向垂直于天花板．提取天花板图像中的两条相交直线及其交点作为特征，利用直线的方向估计机器人的方位，再结合相交点的像素坐标变化量推算出机器人的位置．机器人运动过程中，用作特征的交点接近图像边缘时，更换新的交点作为特征点．室内定位实验结果验证了该方法的有效性．

A Visual Dead Reckoning Positioning Method Based on Lines and Single Feature Point for Mobile Robot

A new visual dead reckoning positioning method is presented tor mobile robot, which is based on lines and single feature points. A camera, whose optical direction is adjusted to be perpendicular to the ceiling, is fixed on the mobile rnbot. Two intersecting lines in the images of the ceiling and their interseetion are extracted as features, the orientation of the mobile robot is estimated based on the orientation of the lines, and then the position of the mobile robot is computed aecording to the variations of the image coordinates of the intersection pixels. When the mobile rnbot moves, the intersection may be nearing to the margin of the image, and at this time a new intersection will be selected to replace the old one as the new feature point. The results of positioning experiments in indoor environment verify the effectiveness of the proposed method.