Infrared road sign for indoor mobile robot positioning and using method thereof

Abstract

The invention relates to an infrared road sign for indoor mobile robot positioning and a using method thereof. The infrared road sign consists of position identification marking points and identity identification marking points; the position identification marking points consist of the marking points at the positions of the four vertexes of a smallest outsourcing quadrilateral of all marking points, and the size of one of the four marking points which form the position identification marking points is greater than those of the other three marking points; the identify identification marking points consist of the other marking points besides the position marking points. The invention also discloses the using method for the infrared road sign for indoor mobile robot positioning. According to the infrared road sign for indoor mobile robot positioning and the using method thereof, the infrared road sign is taken as the basis of visual positioning, so that the influence of visible light illuminating in environment can be effectively reduced, the efficiency of an image processing algorithm is improved, and the visual positioning stability is improved. The four marking points are taken as the position identification marking points, so that the robustness of the algorithm is improved, and the flexibility is higher.

Description

technical field [0001] The invention relates to the technical field of computer vision, in particular to an infrared road sign for positioning an indoor mobile robot and a method for using the same. Background technique [0002] Indoor mobile robots require relatively high positioning accuracy, usually at the centimeter level. Wireless positioning has strict requirements on the layout of equipment, and because of multi-path interference caused by indoor buildings and furniture, it is difficult to meet the accuracy requirements. According to the particularity of the indoor environment and the diversity of indoor positioning requirements, researchers have developed a variety of positioning methods for indoor mobile robot navigation, mainly including wireless positioning, laser SLAM, visual SLAM and landmark positioning. Laser SLAM technology uses laser equipment, which is expensive, and the anti-interference ability of laser SLAM technology is weak, and it cannot perform posi...

AI Technical Summary

Problems solved by technology

In the actual positioning process, due to the acceleration and deceleration inertial force, the installation angle and other problems, it is inevitable that the optical axis of the camera is not perpendicular to the plane of the road sign. In this case, a two-axis inclinometer is used to assist in improving the positioning accuracy. When the plane is not perpendicular to the direction of gravity, this auxiliary method will fail and affect the positioning effect

In addition, the use of three markers as position identification markers fails to completely surround the entire marker area, resulting in frequent misidentification of identity markers

At present, there are also four markers used as the basis for positioning, but these four points cannot completely surround the entire marker area, and there is also the phenomenon of marker misidentification

And because the two large markers are close to each other, it is easy to produce interference phenomenon under the infrared camera, resulting in the two markers being imaged together, which increases the difficulty of the subsequent image processing algorithm

To solve this problem, we can only increase the size of road signs, which will lead to excessively large road signs and greater human impact on the environment

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