A Method for Evaluation of Robot Positioning Accuracy Based on Monocular Vision
A robot positioning and accuracy evaluation technology, applied in the field of robot vision, can solve problems such as increased complexity, high application cost, and large degree of environmental transformation, and achieve the effects of simple evaluation method, saving use cost, and improving work efficiency
Active Publication Date: 2022-04-12
九天创新(广东)智能科技有限公司
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[0003] However, the method of arranging the motion acquisition equipment and the calibration board group has high application cost, a large degree of modification to the environment, and increases the complexity of use. Such an evaluation method is difficult to be widely used in practical applications.
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[0039] The present invention will be further described below in conjunction with specific embodiment:
[0040] see figure 1 and 2 As shown, a method for evaluating robot positioning accuracy based on monocular vision described in this embodiment includes the following steps:
[0041] S1: Arrange the calibration board within the visual range along the movement of the robot;
[0042] S2: The robot moves to a certain calibration board in the motion space;
[0043] S3: When the robot approaches the calibration board, record the real-time pose information of the robot's current algorithm and the relative pose information between the robot and the calibration board;
[0044] Wherein, in step S3, the real-time pose information of the robot is obtained through a positioning algorithm.
[0045] The relative pose information of the robot and the calibration board is obtained through the camera calibration method, and the specific calculation steps are as follows:
[0046] Image pla...
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The invention discloses a robot positioning accuracy evaluation method based on monocular vision. A calibration plate is arranged at any position in the robot motion space. Such an observation method takes multiple samples, and according to all the observation information collected during one movement process, as well as the data statistical characteristics of the observation information, the quantitative comparison of the positioning accuracy of different positioning algorithms in the same working environment is realized. The present invention does not rely on other precision instruments to obtain the real pose of the robot, and does not need a large number of repeated experimental tests, which saves the use cost and improves the work efficiency at the same time. In addition, the use of a calibration board with an unknown pose in the environment makes the evaluation method easier, and the robot's motion environment and space are not limited. Finally, the accuracy of the robot positioning algorithm is described by the expression of positive correlation with the positioning error, and the comparison of the positioning accuracy between different algorithms is realized.
Description
technical field [0001] The invention relates to the technical field of robot vision, in particular to a method for evaluating robot positioning accuracy based on monocular vision. Background technique [0002] The visual positioning of mobile robots is widely used in all aspects of visual navigation of mobile robots, and the accuracy of positioning directly affects the navigation capabilities of mobile robots. Therefore, it is very important to evaluate the positioning accuracy of mobile robots. The current common evaluation methods are mostly based on motion acquisition equipment and adding position-dependent calibration boards in the motion environment for comparison and analysis. [0003] However, the method of arranging the motion acquisition equipment and the calibration board group has high application cost, a large degree of modification to the environment, and increases the complexity of use. Such an evaluation method is difficult to be widely used in practical appl...
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IPC IPC(8): B25J19/00
Inventor 张宏朱蕾陈炜楠何力管贻生
Owner 九天创新(广东)智能科技有限公司