Mobile robot vision positioning system and positioning method

A mobile robot and visual positioning technology, applied in the direction of navigation and calculation tools, etc., can solve the problems of large computational complexity, no mobile robot synchronous positioning and map construction, etc., to achieve simplified calculation steps, controllable and manageable data and image information , high real-time effect

Inactive Publication Date: 2017-11-14
海安中科智能制造与信息感知应用研发中心
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Problems solved by technology

[0005] In order to overcome the problems existing in the prior art that the size of the image needs to be resized, the computational complexity of the calculation method is large, and there is no synchronous positioning and map construction of the mobile robot in an unknown environment in the prior art, the present invention provides a mobile robot Visual positioning system and positioning method

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  • Mobile robot vision positioning system and positioning method
  • Mobile robot vision positioning system and positioning method

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Embodiment Construction

[0036] The present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0037]The invention discloses a mobile robot visual positioning system, which consists of three systems: a global positioning system based on environment understanding, a path recognition and tracking system, and a target recognition and obstacle detection system; wherein the global positioning system mainly uses the improved SUFT Algorithms to coordinate the work of various systems and realize image information collection and display; the path recognition and tracking system is mainly used to calculate the angle deviation and distance deviation in the structured road environment or unstructured road environment; the target recognition and obstacle The object detection system describes the pos...

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Abstract

The invention provides a mobile robot vision positioning system and a positioning method. The mobile robot vision positioning system comprises a global positioning system based on environment understanding, a path recognition and tracking system and a target recognition and obstacle detection system, wherein an improved SUFT (Speed-up Robust Features) algorithm is used in the global positioning system, and the global positioning system coordinates each system to operate and realizes image information acquisition and display; the path recognition and tracking system calculates angular deviation and range deviation in a structured road environment or a non-structured road environment; and the target recognition and obstacle detection system describes the position and size of an obstacle and acquires the information of the position and size of the obstacle so as to realize real-time tracing of a moving target. According to the mobile robot vision positioning system disclosed by the invention, due to use of the improved SUFT algorithm, calculation steps are simplified, the operation is unrelated to the size of a filter template, the hardware cost can be reduced, and real-time robustness is ensured.

Description

technical field [0001] The invention relates to the technical field of mobile robot navigation, in particular to a mobile robot visual positioning system and positioning method. Background technique [0002] In the application of mobile robots, accurate position information is a basic requirement, and the accurate positioning of mobile robots is one of the keys to ensure that it completes navigation and control tasks correctly. In the related technology research of mobile robots, navigation technology can be said to be its core technology, and it is also the key technology to realize truly intelligent and completely autonomous movement. The goal of navigation research is to make the robot move purposefully and complete specific tasks and perform specific operations without human intervention. The robot obtains external environmental information through the information acquisition method of assembly, realizes self-positioning, judges its own state, plans and executes the nex...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 张邵秋殷明张汝佳
Owner 海安中科智能制造与信息感知应用研发中心
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