Double view window based route characteristic identifying, deviation measuring, and accurate positioning method

A path feature and deviation measurement technology, which is applied in neural learning methods, photo interpretation, biological neural network models, etc., can solve problems such as lack of consideration of positioning accuracy

Active Publication Date: 2016-03-30
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0006] In terms of AGV positioning, the visual positioning method proposed by the Chinese invention patents with publication numbers CN104181920A and CN104835173A can only realize the positioning of the AGV at the station point, but does not consider other factors such as the influence of the vehicle body inertia when considering the positioning accuracy

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  • Double view window based route characteristic identifying, deviation measuring, and accurate positioning method
  • Double view window based route characteristic identifying, deviation measuring, and accurate positioning method
  • Double view window based route characteristic identifying, deviation measuring, and accurate positioning method

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Embodiment Construction

[0065] The present invention will be described in detail below in conjunction with specific embodiments.

[0066] figure 1 It is a system flow chart of the path feature recognition, deviation measurement and precise positioning method based on dual-view windows according to the present invention. For path feature recognition, the system processing is divided into two stages. The first stage is the offline machine learning stage, and its process is indicated by the dotted arrow; the second stage is the online path guidance stage, and its process is indicated by the solid line arrow. Both stages need to go through the original image acquisition, setting the path feature recognition window, binarized image preprocessing, high-dimensional feature matrix construction, principal component analysis and dimensionality reduction. The difference is: the known offline machine learning stage The feature matrix sample of the path feature type is used to train the neural network recognizer...

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Abstract

The invention discloses a double view window based route characteristic identifying, deviation measuring, and accurate positioning method, and belongs to the field of computer vision detection. The method comprises the following steps: preprocessing the image of an original route to obtain binarization image of guiding route; then taking whole view range as the route characteristic identifying window, carrying out kernel principal component analysis on the whole image to reduce dimensionality; after dimensionality reduction, and taking the image sample to train a neural network recognizer, which can precisely differentiate multiple branch routes, positioning labels, and single branch routes. For single branch route, the visual angle and inclined installation angle of a camera can determine the route guiding and scanning window, and the route deviation can be measured according to the principle of replacing curve by straight line. On the station point, the precise and stable positioning can be achieved by recognizing two continuously arranged positioning labels. The provided method has the advantages of high characteristic recognition rate, strong algorithm real time property, and high precision of route measurement.

Description

Technical field: [0001] The invention relates to a path feature recognition, deviation measurement and precise positioning method based on dual-view windows, which belongs to the field of computer vision detection. Background technique: [0002] Automated Guided Vehicle (AGV) is an intelligent wheeled mobile robot for material handling. It is widely used in factory automation production lines, warehousing logistics, material transfer in airports and ports. Its guiding methods mainly include magnetic guidance , visual guidance, laser guidance and inertial guidance, etc. The vision-guided AGV uses the CCD camera to collect ground path information, extracts the angle deviation and distance deviation between the ground path and the center of the camera's field of view, and sends the deviation information to the controller. The controller adjusts the pose of the AGV body according to the received deviation information , so that the car body is always kept above the guide line, i...

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Application Information

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IPC IPC(8): G01C11/04G06N3/08
CPCG01C11/04G06N3/08
Inventor 武星楼佩煌沈伟良钱晓明王龙军张建鹏孟凯李斌姚盛昕张颖金鹏
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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