Implementation method of binocular vision speedometer
A technology of binocular vision and implementation method, which is applied in the direction of measuring devices, instruments, surveying and mapping, and navigation, etc., can solve the problems of odometer error increase, cumulative error increase, sensor accuracy decrease, etc., and achieve simple installation and convenient maintenance Effect
Active Publication Date: 2012-06-27
INST OF AUTOMATION CHINESE ACAD OF SCI
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The biggest problem with this method of self-positioning is the increased cumulative error in case of idle or slipping of the drive wheels
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[0016] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with specific embodiments and with reference to the accompanying drawings.
[0017] In the present invention, the binocular camera is installed on the top of the mobile robot. With the movement of the robot, the camera collects indoor ceiling images to obtain sequence images, and calculates the camera corresponding to each frame image through image feature extraction, feature matching and tracking, and segmentation optimization algorithms. Relative motion parameters, and then convert the camera motion parameters into relative motion parameters of the robot according to the relative position relationship between the camera and the robot. The accumulation of the relative motion parameters constitutes the mileage information of the robot motion.
[0018] figure 1 is a flowchart of a method according ...
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The invention discloses an implementation method of a binocular vision speedometer by moving a robot, which comprises the following steps that: a binocular video camera is used for acquiring indoor ceiling image pairs, and the connection point features of the two images are respectively extracted; a point pattern matching method is adopted to build the feature matching relation of the image pairs, and furthermore, the corresponding three-dimensional coordinates of the matching point pair are calculated according to the three-dimensional vision algorithm; the three-dimensional corresponding relation of the matching point pairs among all the adjacent images in the acquired image sequence is obtained; the relative motion parameter of the video camera is calculated according to the corresponding three-dimensional relation of the matching point pair, and a subsection optimization algorithm is adopted to optimize the relative motion parameter; and the relative motion parameter of the video camera is converted into the motion parameter of the robot according to the relative position relation between the video camera and the robot, and the motion mileage information of the robot is updated. The binocular vision speedometer in the invention does not depend on the rotation count of a rotating shaft, and accordingly, the radius variation, idling, sliding and the like of a wheel are prevented from influencing the measurement accuracy of the speedometer.
Description
technical field [0001] The invention relates to the technical field of autonomous navigation of mobile robots, in particular to a method for realizing a binocular vision odometer applied to the autonomous navigation technology of a wheel-driven mobile robot in an indoor environment. Background technique [0002] The goal of mobile robot research is to move purposefully and complete corresponding tasks without human intervention and without any regulations and changes to the environment. In practical applications, when a robot completes a task autonomously, the most important thing is to perform accurate self-positioning, that is, the robot needs to know its current position and posture. Usually, the self-positioning of wheel-driven mobile robots adopts the method of dead reckoning: the position and attitude of the mobile robot are calculated by using the small displacement measured by the odometer installed on the two wheels, and the self-positioning of the mobile robot is r...
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Inventor 李成荣刘宏林罗杨宇
Owner INST OF AUTOMATION CHINESE ACAD OF SCI