| 基于全景近红外视觉的室外移动机器人定位系统 |
| |
| 引用本文： | 张栩.基于全景近红外视觉的室外移动机器人定位系统[J].微型电脑应用,2011,27(1):28-30,5. |
| |
| 作者姓名： | 张栩 |
| |
| 作者单位： | 上海交通大学自动化系上海,200240 |
| |
| 摘 要： | 针对室外移动机器人定位、导航问题,提出了一种基于全景近红外视觉的路标定位系统。系统通过近红外主动照明降低了光照变化、阴影等因素的影响,利用全景摄像机获得大范围的路标定向信息。图像处理中改进大津法和路标跟踪的应用使识别路标更准确、更快速,三角定位算法确保能精确的计算出机器人的世界坐标。室外环境下移动机器人的定位实验结果表明,本系统具有较高的定位精度和良好的鲁棒性。
|
| 关 键 词： | 全景视觉 近红外 移动机器人 室外定位 |
Outdoor Mobile Robot Localization Based on Infrared Omni-Vision |
| |
| Zhang Xu.Outdoor Mobile Robot Localization Based on Infrared Omni-Vision[J].Microcomputer Applications,2011,27(1):28-30,5. |
| |
| Authors: | Zhang Xu |
| |
| Affiliation: | Zhang Xu(Department of Automation,Shanghai Jiaotong University,Shanghai 200240,China) |
| |
| Abstract: | An outdoor localization system for mobile robot based on infrared Omni-Vision is presented. The near infrared illuminator is used for eliminating the disturbance of natural light and shadow. Omni-directional camera can capture images with a wide range of landmark's information. In the image processing, improved OTSU method and landmark tracking are adopted to make the system run faster and more accurate. The triangulation approach is then used for robot's localization and navigation. The localization experi... |
| |
| Keywords: | Omni-vision Near-infrared Mobile Robot Outdoor Localization |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
|
