一种基于视觉的移动机器人定位系统-core.pdfVIP

第5 卷(A 版) 　第8 期 中国图象图形学报 Vol. 5(A) , No . 8 2000 年8 月 Journal of Image and Graphics Aug . 2000 董再励　郝颖明　朱　枫 ( 中国科学院沈阳自动化研究所, 中国科学院机器人学开 研究实验室, 沈阳　110015) 具有自主的全局定位能力是自主式移动机器人传感器系统的一项重要功能. 为了实现这个目的, 国内外 均在不断地研究发展各种定位传感器系统. 这里介绍了一种采用光学原理的全方位位置传感器系统. 该传感器系 统由主动式路标、视觉传感器、图象采集与数据处理系统组成. 其视觉传感器和数据处理系统可安装在移动机器人 上, 然后可通过观测路标和视角定位的方法, 计算出机器人在世界坐标系中的位置和方向. 实验证明, 该系统可以 实现机器人的在线定位, 其采样速率和精度能够满足实用要求. 机器人定位　视觉导航　路标 : T P242. 2: A : 100 -89 1( 2000) 08-0 88-05 A Based Vision Location System f or Autonomous Robots DONG Zai-li, HAO Ying-ming, ZHU Feng ( Ro bot ics L ab, S heny ang I nsti tut e of A ut omat ion, Chinese A cademy of Sci ences , S heny ang 110015) Abstract　An autonom ous location-tracking ability is a major performance for locating sensor systems to navigate . - an autonomous mobile robot T his paper presents a vision based omnidirectional location sensor system w e have developed in our lab. It is composed of active landmarks, a vision sensor, an image and data processing device. The w hole sensor system can be mounted on a mobile robot. Meanwhile, t he relative calculation methods and function softw are w ere developed that used to obtain the absolute position and orient ation of the sensor system and vehicles in their w orking places. The experiments show ed this system could get its pose online and suit able position accuracy for track guidance of mobile robots as w ell. 　 , - , Keyword Robot location Visual based navigation Landmarks 定位误差. 这些定位系统中, 声纳是通过测量景物与 0 机器人之间的距离来建立局部景物模型, 进而确定