Visual navigation method based on ground image textures

Abstract

The invention discloses a visual navigation method based on ground image textures. The method comprises the following steps: step one, building an absolute coordinate system and setting multiple calibration points in the coordinate system; step two, enabling a mobile robot to automatically photograph ground textures on a moving path by using an image acquisition device in the moving process; and step three, carrying out image registration with a former frame photographed image if current photographed image textures are not overlapped with calibration point image textures, and carrying out image registration with calibration point images if the current photographed image textures are overlapped with the calibration point image textures. The visual navigation method provided by the invention is free of additional treatment on ground, and is wide and complete in application range; the method is assisted by the images of the ground to calibrate; accumulative errors are intermittently corrected; the high-accuracy positioning is achieved; the image information used for calibration can be updated when passing the calibration points for each time; the visual navigation method can be adapted to the situations such as ground abrasion.

Description

technical field [0001] The invention relates to the technical field of mobile robots, in particular to a visual navigation method based on ground image texture. Background technique [0002] Visual navigation is currently a hot spot in the field of mobile robots. With the development of robots, its application fields are becoming more and more extensive. At present, the navigation methods of robots mainly include magnetic stripe navigation, inertial navigation, and laser navigation. [0003] Magnetic strip navigation needs to lay magnetic strips on the moving path of the robot, the accuracy is low, and the magnetic strip protruding from the ground is easily damaged; with the accumulation of time, the cumulative error of inertial navigation increases, and other equipment needs to be assisted to correct it, and the high The cost of high-precision inertial navigation devices is high; laser navigation needs to add reflectors on both sides of the moving path, which requires high ...

AI Technical Summary

Problems solved by technology

[0003] Magnetic strip navigation needs to lay magnetic strips on the moving path of the robot, the accuracy is low, and the magnetic strip protruding from the ground is easily damaged; with the accumulation of time, the cumulative error of inertial navigation increases, and other equipment needs to be assisted to correct it, and the high The cost of high-precision inertial navigation devices is relatively high; laser navigation needs to add reflectors on both sides of the moving path, which has high requirements for the installation accuracy of the reflectors, and is sensitive to other light sources, which is not easy to operate outdoors, and the cost is high

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