A Fast Robot Vision Positioning Method Based on Dead Reckoning

Abstract

The invention discloses a fast robot visual positioning method based on track estimation. The method adopts a grid processing method when processing image features, obtains the position coordinates of the target robot in the image, and then transforms the image by using coordinate conversion. The coordinates are converted into actual coordinates, and finally, for the mobile robot in motion, data transmission is performed through the wireless communication module, and the dynamic positioning of the mobile robot is completed by using the angular velocity and angle of the mobile robot; the present invention reduces the amount of image processing data, and in While ensuring the positioning accuracy, the image processing time required for target recognition is reduced; similarly, the processing method in the motion state also plays an important role in shortening the image processing time.

Description

technical field [0001] The invention belongs to the field of positioning of mobile robots, and in particular relates to a visual positioning method of a mobile robot. Background technique [0002] With the development of science and technology and the progress of society, as a strategic emerging industry, robots have been widely used in military, civil and other aspects. People's demand for robots has greatly improved, which also makes robots have a large market space. with foreground. How to enable robots to quickly and efficiently achieve given target tasks in unknown environmental situations has become a major challenge in the development and research of robots. At the same time, as a typical representative of a robot, whether it is feedback control or effectively avoiding various static and dynamic obstacles, it is necessary to know its current position accurately, which is the positioning problem of a mobile robot. [0003] The global positioning system (GPS) can basi...

AI Technical Summary

Problems solved by technology

[0003] For outdoor positioning requirements, the global positioning system (GPS) can basically meet the needs, but in the indoor environment, due to many restrictions, the positioning accuracy is not enough to achieve positioning

Inertial navigation refers to the method of using inertial sensors such as gyroscopes, accelerometers, and electromagnetic compass to realize the positioning and navigation of mobile robots. However, accelerometers and gyroscopes are sensitive to drift, and electromagnetic compass depends on magnetic fields. The existence of these problems affects positioning accuracy

Indoor positioning is realized by using wireless technologies such as infrared, ultrasonic and radio frequency identification. The ultrasonic propagation speed is low, the measurement accuracy is high, and it is not sensitive to external light and magnetic fields. It is widely used, but it is susceptible to multipath effects, non-line-of-sight propagation and temperature. impact of change

Infrared has the characteristics of low cost and simple structure, but it is susceptible to external interference and affects positioning accuracy

Moreover, a large number of hardware devices need to be set up to assist positioning, which is not conducive to maintenance

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