Rapid visual orientation and remote monitoring system and method based on embedded mobile robot

A mobile robot and visual positioning technology, applied in the general control system, control/regulation system, program control, etc., can solve the problems of reducing the real-time positioning of mobile robots, the large amount of calculation of the SIFT algorithm, and the huge structure of the robot system. Low power consumption, short matching time and small size effect

Inactive Publication Date: 2011-01-26
BEIJING INSTITUTE OF PETROCHEMICAL TECHNOLOGY
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Problems solved by technology

[0004] At present, in order to improve the real-time performance of visual recognition, the visual positioning of mobile robots mostly uses powerful industrial computers for visual recognition calculations, which results in a large robot system structure, high redundan

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  • Rapid visual orientation and remote monitoring system and method based on embedded mobile robot
  • Rapid visual orientation and remote monitoring system and method based on embedded mobile robot
  • Rapid visual orientation and remote monitoring system and method based on embedded mobile robot

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Embodiment Construction

[0030] Depend on figure 1 It shows the fast vision positioning and remote monitoring system based on embedded mobile robot, which includes: embedded base board (1), embedded core board (2), image data acquisition module (3), digital signal processing module (4), A communication module (5), a USB interface (6), a storage module (7), a camera (8) and a positioning display terminal (9), wherein: an ARM (advanced RISC machines) architecture based on the embedded chassis (1) is set Embedded core board (2), CCD / CMOS image data acquisition module (3) with video decoding function, digital signal processing module (4) based on DSP (digital signal processor), wireless communication module (5), USB interface (6) and storage module (7), camera (8) is connected with USB interface (6) on the embedded base plate (1), and the signal input end of image data acquisition module (3) is connected to USB interface (6); The collected image data is sent to the digital signal processing module, which...

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Abstract

The invention relates to rapid visual orientation and remote monitoring system and method based on an embedded mobile robot. The system mainly comprises an embedded base plate, an embedded core plate, an image data collecting module, a digital signal processing module, a network communication module, a storage module, a USB interface and a terminal device. The embedded core plate collects image information by the image data collecting module, forwards the image information to the digital signal processing module, rapidly extracts key characteristic points of the images according to improved SIFT (Scale Invariant Feature Transform) algorithm and compares the key characteristic points with the image characteristic point information of the special marker stored in the storage module so as to identify the images, further determine the position of the mobile robot according to coordinates of the special marker and complete visual orientation of the mobile robot. After determining the position of the marker, the digital signal processing module sends the positioning information through a communication module to the terminal device. The system is compact and reliable in structure, and can rapidly and effectively identify the special marker during remote orientation of the mobile robot which is oblique, deformed, dirty, partially sheltered and has a complicated background and changing light.

Description

technical field [0001] The invention relates to a mobile robot navigation technology, in particular to a mobile robot remote fast visual positioning system and method combining embedded computer technology and digital image recognition technology based on improved SIFT algorithm. Background technique [0002] As one of the core and basic technologies of the visual positioning system of mobile robots, image recognition technology is the frontier and hotspot in the field of visual positioning of mobile robots. It is widely used, and its image matching algorithm, SIFT algorithm, is gradually adopted by people. [0003] The SIFT algorithm is an algorithm for extracting local features, looking for extreme points in the scale space, and extracting position, scale, and rotation invariants. The SIFT feature point vector extracted by using the SIFT algorithm has the following advantages: SIFT feature is a local feature of the image, which remains invariant to rotation, scaling, and ...

Claims

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Application Information

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IPC IPC(8): G01C11/00G01C21/00G06K9/00G05B19/048
Inventor 王殿君姜永成任福君杨喆刘淑晶邵东伟张连军
Owner BEIJING INSTITUTE OF PETROCHEMICAL TECHNOLOGY
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