| 融合测程法与视觉信息的足球机器人自定位方法 |
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| 引用本文： | 刘展,豆浩斌,罗定生. 融合测程法与视觉信息的足球机器人自定位方法[J]. 模式识别与人工智能, 2013, 26(1): 57-62 |
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| 作者姓名： | 刘展 豆浩斌 罗定生 |
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| 作者单位： | 北京大学言语听觉研究中心机器感知与智能教育部重点实验室北京100871 |
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| 基金项目： | 国家自然科学基金重点项目(No.90920302,91120001);国家科技重大专项项目(No.2011ZX01042-001-001)资助 |
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| 摘 要： | 针对足球机器人自定位问题，提出一种融合测程法与视觉信息的定位方法。方法综合考虑两种信息的特点，有效实现优势互补:一方面，针对视觉定位易出现的歧义，利用测程法获得的定位结果予以有效消解;另一方面，随着运动，测程法定位易出现误差的累积，利用消歧后的视觉定位结果加以动态修正。最后，在Webots模拟平台上进行的机器人球场定位实验表明文中方法的有效性。
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| 关 键 词： | 足球机器人自定位 测程法 视觉信息 |
| 收稿时间： | 2011-11-14 |
Soccer Robot Self-Localization by Combining Odometry and Visual Information |
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| LIU Zhan , DOU Hao-Bin , LUO Ding-Sheng. Soccer Robot Self-Localization by Combining Odometry and Visual Information[J]. Pattern Recognition and Artificial Intelligence, 2013, 26(1): 57-62 |
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| Authors: | LIU Zhan DOU Hao-Bin LUO Ding-Sheng |
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| Affiliation: | Key Laboratory of Machine Perception of Ministry of Education,Speech and Hearing Research Center,Peking University,Beijing 100871 |
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| Abstract: | A method is proposed which combines odometry and visual information for robot self-localization in soccer field. The method makes effective use of these two kinds of information by considering their characteristics simultaneously. On the one hand,odometry is used to effectively deal with the ambiguity which is prone to appear in landmark based visual localization. And on the other hand,the disambiguated visual localization results are useful to dynamically correct the accumulative odometry errors which are caused by robot motion. Finally,experiments are conducted on the Webots simulation platform and the results show the effectiveness of the proposed method. |
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| Keywords: | Soccer Robot Self-Localization Odometry Visual Information |
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