Walking robot positioning system based on monocular cam

Abstract

The invention discloses a travelling robot positioning system based on a single camera. In the system, a point model is adopted for representing an environmental model, an off-line map is calibrated, an action model and an observation model are established for carrying out position updating and road sign calibration, Monte Carto particle filter technology is adopted, particle swarm distribution with weights is adopted for representing robot pose estimation, the weights and the distribution of particles are updated through road sign matching processing, field particle distribution is rasterized, and a sub-region with maximal particle density is selected for positioning the robot. As an independent platform, the system greatly improves the map calibration technology on the environmental model, has great flexibility on the identification of ground line sections, and just needs re-calibration but not needs model re-establishment after environment change. The model reduces the matching complexity in visual processing and improves calculation efficiency. The Monte Carlo localization algorithm is expanded on the information integration processing technology, thus ensuring the real-time property and robustness of the system.

Description

technical field [0001] The invention relates to a positioning system of a robot, in particular to a positioning system of a walking robot with a monocular camera. Background technique [0002] In recent years, with the advancement of technology in the fields of sensors and other fields, intelligent robot systems have begun to be applied in the service industry, opening up a new field of autonomous robot services. In the past, the research and development of service robots were mainly carried out in universities and research institutes, but now they are getting more and more attention from the corporate and commercial circles. The main reasons for the emergence of indoor service robots are as follows: first, people want to get rid of annoying and boring repetitive tasks, such as housework, patient care, etc.; second, the decline in the cost of electrical equipment. It is a high-tech technology with good application prospects to replace people with housework by service robots...

AI Technical Summary

Problems solved by technology

[0006] At present, most of the map calibration is mainly the calibration of geometric shapes. Robots based on camera sensors generally need to process boundary lines through edge detection and least squares method, and finally obtain the geometric description of the object before performing pattern matching. The map structure is complex and the amount of calculation is large.

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