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Fast recognition method for positioning mark point of mobile robot in indoor environment

A mobile robot, indoor environment technology, applied in the field of computer vision, can solve the problem that the positioning technology is not easy to expand

Active Publication Date: 2013-04-03
BEIHANG UNIV
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  • Summary
  • Abstract
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AI Technical Summary

Problems solved by technology

[0010] In order to solve the problem that the traditional mobile robot positioning technology needs to manually set the marker points, and the positioning technology is not easy to expand, this invention proposes to use the natural feature points (corner points of the lampshade) in the indoor environment as the marker points, and through the identification of such marker points , to achieve precise positioning of the mobile robot

Method used

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  • Fast recognition method for positioning mark point of mobile robot in indoor environment
  • Fast recognition method for positioning mark point of mobile robot in indoor environment
  • Fast recognition method for positioning mark point of mobile robot in indoor environment

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Embodiment Construction

[0034] The method of the present invention has no specific requirements on the performance of the camera, and a general network camera is sufficient.

[0035] In step 1, the camera installation requirement is that the imaging plane is parallel to the ceiling plane. During the actual operation, a square marker can be pasted on the ceiling. Move the robot under the square marker so that the square marker is exactly near the center of the image. Determine whether the camera is parallel to the ceiling by identifying the length of each side of the square in the image. Let the pixel length of each side of the square be l i , then when Satisfied|(l i -l j ) / (l i , +l j )|<ε, it is considered that the optical axis of the camera is perpendicular to the ceiling. The value of ε can be taken as ε≤0.1. The requirements for camera installation can be met through repeated debugging. In practical applications, it is recommended to use a PTZ camera.

[0036] In step 2, it is necess...

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Abstract

The invention discloses a fast image recognition method for a positioning mark point of a mobile robot in an indoor environment, belonging to the computer vision technology. In the method, the angular point of a lampshade on a ceiling can be accurately recognized via binary segmentation, morphological processing, candidate feature point search and classification, and candidate feature point weight centroid evaluation for the acquired image of a camera. The method can not be influenced by the change of the light intensity of the environment, is high in recognition accuracy and high in recognition speed, and meets the requirements for real-time and accurate positioning of the mobile robot.

Description

technical field [0001] The invention belongs to the technical field of computer vision and realizes fast and accurate identification of target points. Background technique [0002] Autonomous mobile robots in indoor environments have a wide range of uses, such as cargo handling, environmental monitoring, etc. The prerequisite for mobile robots to achieve autonomy is autonomous positioning. There are two most commonly used methods in the existing mobile robot autonomous localization methods. The first is to lay a fixed path with special materials (magnetic induction, inductance, etc.), and the robot can track the set path by sensing the special material. This method is costly and limits the movement space of the mobile robot, reducing the autonomy. The second method is to set artificial marker points, and the robot can realize autonomous positioning by identifying the marker points. This method needs to set enough mark points in the working space of the robot to ensure th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/60
Inventor 贾英民陈霄汉王龙辉
Owner BEIHANG UNIV
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