Robot indoor positioning and navigating method based on vision
An indoor positioning and navigation method technology, applied in the fields of navigation and visual navigation, can solve the problems of robot interference, poor real-time performance, and lack of error correction, and achieves the reduction of occlusion and noise interference, time complexity and complexity of the surrounding environment. The effect of request reduction
Inactive Publication Date: 2012-06-13
SOUTHEAST UNIV
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[0004] The above-mentioned methods have the following disadvantages: 1) road signs are often placed on the ground, and are easily disturbed by other robots passing by; 2) although some simple road signs have simple image processing, they do not have error correction, while some complex road signs have Complete data error correction, but the pattern is too complex and the real-time performance is poor; 3) It is not easy to expand to robot indoor positioning and navigation in a large environment
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[0020] The present invention will be further described below in conjunction with accompanying drawing.
[0021] The vision-based indoor positioning and navigation method for robots of the present invention mainly includes the following contents:
[0022] (1) Design an artificial landmark based on a two-dimensional barcode, and use this landmark as a landmark for indoor positioning and orientation of the robot;
[0023] The structure of the artificial landmark is as follows figure 1 As shown, it is a square composed of squares of two different colors. The two colors should have a strong contrast as much as possible. In the figure, black and white are used as an example. The black square represents binary 1, and the white square represents binary 0;
[0024] (2) Assuming that the indoor ceiling is a rectangle with a width of w meters and a length of h meters, grid division is performed on the ceiling plane according to the requirements of navigation and positioning, and a globa...
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The invention discloses a robot indoor positioning and navigating method based on vision, belonging to the field of vision navigation. According to two-dimension codes, the method designs a manpower road sign which is simple and convenient, is easy to recognize, internally contains absolute position coordinates and has certain error correction capability; the road sign is arranged on a ceiling; acamera arranged on the robot, with the optical axis vertical to the ceiling, is used for photographing; the coordinate information included in the road sign is analyzed by road sign positioning of a series of steps such as threshold segmenting of images, extracting of communicating region, profile curve matching and recognizing of road sign characteristic; and the current absolute position and course angle of the robot can be finally obtained by the position estimation arithmetic of the robot. The method has the advantages of reducing the blocking and noise interference, and greatly reducing the processing time and the complexity of surrounding environments of the image processing method.
Description
technical field [0001] The invention relates to a navigation method, in particular to a vision-based indoor positioning and navigation method for a robot, belonging to the field of visual navigation. Background technique [0002] The positioning and orientation of indoor robots is an important research hotspot in the field of indoor robots. Due to the shielding of satellite signals indoors, satellite positioning methods such as GPS cannot take advantage of their fast and accurate positioning indoors. Indoor positioning using wireless sensor networks is a current hot research direction. However, this method generally uses the method of obtaining the relative position of nodes based on link quality indicators or received signal strength to achieve node positioning. The positioning accuracy is poor, and the error can even reach 25%. It cannot meet the requirements of indoor precise positioning. [0003] With the development of image processing technology, robot visual navigat...
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IPC IPC(8): G01C21/00
Inventor 林国余王海蔡英凤王东杨彪
Owner SOUTHEAST UNIV