Mobile Robot Localization and Navigation System Based on Monocular Vision

被引：0

作者：

贾云伟 ^{[1
,2
]}

刘铁根 ^{[1
]}

高丽兰 ^{[2
]}

王聃 ^{[3
]}

机构：

[1] School of Precision Instrument and Opto-Electronics Engineering,Tianjin University

[2] School of Mechanical Engineering,Tianjin University of Technology

[3] School of Computer and Communication Engineering,Tianjin University of Technology

来源：

Transactions of Tianjin University | 2012年 / 05期

关键词：

localization algorithm; navigation; omni-vision; monocular vision;

D O I：

暂无

中图分类号：

TP242 [机器人];

学科分类号：

1111 ;

摘要：

A system for mobile robot localization and navigation was presented.With the proposed system,the robot can be located and navigated by a single landmark in a single image.And the navigation mode may be following-track,teaching and playback,or programming.The basic idea is that the system computes the differences between the expected and the recognized position at each time and then controls the robot in a direction to reduce those differences.To minimize the robot sensor equipment,only one omnidirectional camera was used.Experiments in disturbing environments show that the presented algorithm is robust and easy to implement,without camera rectification.The rootmean-square error(RMSE) of localization is 1.4,cm,and the navigation error in teaching and playback is within 10,cm.

引用

页码：335 / 342

页数：8

共 7 条

[1] 基于单目视觉的移动机器人导航算法研究进展 [J].