用于移动机器人的视觉全局定位系统研究

本文叙述了用于移动机器人自主导航定位的一种视觉全局定位系统技术．该视觉定 位系统由LED主动路标、全景视觉传感器和数据处理系统组成．本文主要介绍了为提高全景 视觉图像处理速度和环境信标识别可靠性、准确性的应用方法，并给出了实验结果．实验表 明，视觉定位是具有明显研究价值和应用前景的全局导航定位技术．

A VISION GLOBAL LOCATION SYSTEM TECHNIQUE FOR MOBILE ROBOTS

This paper describes a vision global location system for mobile robot systems. It uses a global observation sensor to observe some artificial landmarks mounted in a work place. And then a data processing is used to obtain the sensor position and orientation in the environment. This paper mainly describes some improved methods of reliability and image processing speed for image target recognition, the optimal method for location calculation is mentioned as well. At last, the experiments are given to testify that such methods used for the vision sensor system are effective to guide a mobile robot system by global environments.