Visual positioning method in complex environment

A visual positioning and complex environment technology, applied in the field of visual positioning, can solve the problem of low positioning accuracy of robots and achieve the effect of improving positioning accuracy

Active Publication Date: 2019-10-18
STATE GRID SICHUAN ELECTRIC POWER CORP ELECTRIC POWER RES INST +1
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  • Application Information

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Problems solved by technology

The technical problem to be solved in this application is that t

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Embodiment

[0039] A visual positioning method in a complex environment, including long-distance left-right calibration and short-distance left-right calibration for the position of the robot;

[0040] The long-distance left-right calibration includes the following steps:

[0041] Target detection, three steps of graphic edge extraction, small outline removal and image morphology processing are performed on the image collected by the camera to obtain the original image in each outline area;

[0042] Graphical similarity comparison, use the image hash algorithm to compare the original image in each contour area with the surface template image, and find the contour with the highest similarity as the final matching result;

[0043] Calculate the position deviation, compare the final matching result with the template image to obtain the position deviation between the actual position of the robot and the position of the template;

[0044] The short-range left and right calibration includes: i...

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Abstract

The invention discloses a visual positioning method in a complex environment, relates to the technical field of robot positioning, and solves the problem of low positioning precision of a robot in thecomplex environment. The method comprises the following steps: carrying out long-distance left-right calibration and short-distance left-right calibration on the position of the robot; for remote left-right calibration, in order to calculate the difference between the current position and the standard position of the robot, matching the image acquired by the camera at the current position with the image of the template at the standard position, and calculating the difference to obtain the position deviation of the robot; for close range left and right calibration, using image preprocessing for reducing the overall noise of a digital image, eliminating useless image feature information influencing the recognition effect and improving the system recognition precision. The purpose of straight line detection is to extract vertical straight line information in a binary image and determine the movement distance of a secondarily calibrated robot according to the distribution condition of straight lines. The positioning precision of the robot is improved.

Description

technical field [0001] The invention relates to the technical field of robot positioning, in particular to a visual positioning method in a complex environment. Background technique [0002] In order to mobilize social forces to participate in scientific and technological breakthroughs in production safety, and further strengthen the ability to prevent and contain major accidents, our country has carried out a special action to strengthen safety with science and technology in key industries and fields, with the focus on replacing labor with mechanized production. Operation, automatic control to reduce human operation, and greatly improve the enterprise's scientific and technological support ability for safe production. In the existing technology, robots are used to realize real-time monitoring of electric power work site operations, improve the deterrent force on the work site, help the safe production of the power grid, and avoid the occurrence of power grid, personal and e...

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Application Information

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IPC IPC(8): G06T7/70G06K9/20G06K9/46G06K9/62G06N3/04G06T7/13
CPCG06T7/70G06T7/13G06V10/22G06V10/44G06N3/045G06F18/22
Inventor 常政威陈缨彭倩蒲维彭倍刘静葛森刘海龙陈凌王大兴崔弘刘曦
Owner STATE GRID SICHUAN ELECTRIC POWER CORP ELECTRIC POWER RES INST
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