A robot positioning and navigation method based on the outline of floor tiles
A technology of robot positioning and navigation methods, applied in the direction of navigation computing tools, etc., to achieve the effect of effective large-scale robot coverage and obstacle avoidance, and no cumulative error
Active Publication Date: 2019-11-22
ZHEJIANG UNIV
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Problems solved by technology
Although the line segment segmentation detector (lsd) algorithm is much faster in efficiency and has a certain control over the false detection rate, it still detects the straight lines of the ground pattern. How to extract the required ground line gaps and crosses from so many straight lines Intersections are an issue worth considering
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[0028] In order to better understand the technical solution of the present invention, further description will be made below in conjunction with the accompanying drawings.
[0029] First extract the straight line of the floor tiles. After extracting at least one straight line, the robot can be made to walk along the straight line, so that the robot can keep walking in a straight line;
[0030] After the two lines are extracted, the cross of the floor tiles can be extracted, and the slope and intercept of the two lines can be calculated, and the position of the cross point can be extracted according to the straight line intersection formula; according to the internal and external parameters of the camera The actual distance of the intersection point relative to the camera can be calculated;
[0031] Then the distance between the current robot and the cross point in the image can be calculated, and the specific formula for converting the camera pixel coordinates to physical coor...
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The invention discloses a robot positioning and navigation method based on floor tile gap recognition. According to the method, a robot is positioned and navigated by detecting a floor tile gap and a cross intersection point. Firstly, straight lines in a picture are detected through lsd and Hough transformation, and then, the floor tile gap and the cross intersection point are detected by aid of movement information and information of color texture on the periphery of the straight lines. Finally, the local position of the robot is calculated according to the straight lines and the cross intersection point, a wheel type odometer is sufficiently combined for positioning, a raster map is established on basis of floor tile lines, and the large-range area is covered with a farm cattle type covering algorithm. Experimental results show that the positioning and navigation accuracy of the method is within 10 cm, and the method is completely suitable for positioning and navigation in large-range public places.
Description
technical field [0001] The invention relates to the fields of image recognition and robot navigation, in particular to a line recognition method based on the outline of general floor tiles and a robot positioning and navigation method. Background technique [0002] In recent years, the problem of localization and navigation in a large range of robots has been a research hotspot in robotics. However, in large public places, such as places with a large flow of people such as stations, laser and general visual positioning and navigation lose their effective effect. According to the actual site, most of the public places now use regular and unified floor tiles. If the gaps and gap intersections between each floor tile can be identified, the robot can be guaranteed to keep walking in a straight line along the ground line. It can also determine the current position of the robot relative to the floor tile to achieve local positioning. [0003] Extracting the ground line requires ...
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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 刘勇郑仁杰徐巍华
Owner ZHEJIANG UNIV