Mobile robot positioning method based on stereoscopic vision

A technology of mobile robot and positioning method, which is applied in the direction of instruments, photo interpretation, measuring devices, etc., and can solve the problem that the monocular vision positioning system is difficult to reconstruct the depth information of image points, etc.

Inactive Publication Date: 2015-02-18
TIANJIN UNIVERSITY OF TECHNOLOGY
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  • Abstract
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  • Application Information

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Problems solved by technology

The monocular vision positioning system is not easy to reconstruct the depth information of image points, and cannot provide

Method used

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  • Mobile robot positioning method based on stereoscopic vision
  • Mobile robot positioning method based on stereoscopic vision
  • Mobile robot positioning method based on stereoscopic vision

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Embodiment 1

[0081] Such as figure 1 As shown, it is an operation flowchart of the mobile robot positioning method based on stereo vision in the present invention, and the operation steps of the method include:

[0082] Step 01 Image acquisition and preprocessing

[0083] First, a binocular stereo camera is installed on the mobile robot, the camera is calibrated by Zhang Zhengyou's camera calibration method, and the image distortion is corrected by Bought distortion correction method.

[0084] Such as figure 2 As shown, it is a schematic diagram of the parallel binocular camera coordinate system after calibration and distortion correction in the present invention. Let O l , O r are the optical centers of the left and right cameras respectively, the distance between the optical centers of the two cameras is the baseline B, and the unit is meters; I l and I r are the images obtained by the left and right cameras respectively, and the image resolution is col×row; the coordinates of the...

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Abstract

A mobile robot positioning method based on stereoscopic vision specifically comprises the following steps: shooting an image sequence through a binocular camera mounted on a robot; extracting scale invariant features in the stereo image sequence, matching and tracking the features through a circle matching technique; solving rotating translation matrixes among adjacent frames through a unit quaternion method; performing iterative optimization for multiple times through a minimum re-projection error method to obtain an optimal motion parameter. According to the invention, for the condition that the GPS and other traditional positioning methods are in failure in a certain environment, the positioning method based on stereoscopic vision is provided; for the problem that wrong matching easily appears during feature matching, the circle matching technique is provided to match and track the features, so that the accuracy of feature matching is improved; since the unit quaternion method is adopted to solve the rotating translation matrixes, computational accuracy is improved; the minimum re-projection error method is provided finally to obtain the relatively accurate motion parameter by performing iterative optimization for multiple times.

Description

technical field [0001] The invention belongs to the technical field of computer vision, and relates to a positioning method for a mobile robot based on stereo vision, which solves the difficulty that the positioning accuracy of the mobile robot using the GPS system is not high, and the indoor environment cannot use the GPS positioning, and improves the positioning accuracy and robustness , can be used for mobile robot positioning in indoor environments, and mobile robot positioning in the case of inaccurate or even invalid GPS positioning in some environments. Background technique [0002] Vision-based positioning technology is a technology that uses image sequences captured by cameras mounted on robots or vehicles to position the vehicle body. Traditional positioning technology is based on wheel encoders, inertial navigators or GPS systems to estimate the distance of the vehicle. In some environments (such as wheel slippage, indoor environment), these methods will fail. Vis...

Claims

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Application Information

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IPC IPC(8): G01C11/08
CPCG01C11/08G01C21/00
Inventor 刘少强张桦徐光平薛彦兵高赞徐珂琼
Owner TIANJIN UNIVERSITY OF TECHNOLOGY
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