Monocular natural vision landmark assisted mobile robot positioning method

A mobile robot and positioning method technology, which is applied in the fields of inertial navigation and image processing, and can solve problems such as large amount of calculation, low positioning accuracy, and error accumulation.
CN103292804AActive Publication Date: 2013-09-11ZHEJIANG UNIV
3 Cites 79 Cited by

Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
ZHEJIANG UNIV
Publication Date
2013-09-11

Smart Images

  • Figure 1
    Figure 1
  • Figure 2
    Figure 2
  • Figure 3
    Figure 3
Patent Text Reader

Abstract

The invention discloses a monocular natural vision landmark assisted mobile robot positioning method. The method comprises the following steps: establishing a natural vision landmark feature library at multiple positions in a navigation environment in advance; matching the acquired monocular image and the vision landmark in the library through a robot in the positioning process by utilizing an inertial navigation system; establishing an online image rapid matching frame based on combination of GIST global features and SURF local features, and meanwhile correcting the vehicle course by combining the motion estimation algorithm based on the monocular vision; finally, effectively fusing the positioning information acquired through vision landmark matching and the positioning information acquired through the inertial navigation system by utilizing Kalman filtering. According to the method, positioning precision and robustness are high under the condition that the global position system (GPS) is limited, and the inertial navigation error caused by noise can be effectively corrected; the operation amount is greatly reduced by employing the monocular vision.
Need to check novelty before this filing date? Find Prior Art

Description

technical field

[0001] The invention relates to inertial navigation and image processing methods, in particular to a mobile robot positioning method assisted by monocular natural vision landmarks. Background technique

[0002] Traditional robot positioning includes GPS, inertial navigation system, etc. GPS has a wide range of uses and high precision, but is greatly affected by the environment. Inertial navigation system is completely autonomous, with high frequency but large noise impact; and GPS / inertial navigation system fusion positioning is the most important part of today's robot navigation. One of the most commonly used integrated navigation and positioning methods, which can effectively use their respective advantages and learn from each other. However, in practical applications, in many cases, the GPS signal will be blocked and cannot be used, resulting in a rapid decline in the overall positioning accuracy of the system.

[0003] In order to solve the above problem...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More