Two-dimensional code positioning method and mobile robot positioning method based on two-dimensional code

Abstract

The invention discloses a two-dimensional code positioning method, and the method comprises the steps: S11, carrying out the preprocessing of a two-dimensional code image, and obtaining a binary image; S12, coarse positioning of the two-dimensional code: calculating the contrast ratio of adjacent pixel points in the binarized image, and if the contrast ratio is close to a contrast ratio threshold value, determining that the adjacent pixel points are two-dimensional code areas, and completing coarse positioning of the two-dimensional code areas; and S13, fine positioning of the two-dimensional code: extracting an edge contour of the coarse positioning two-dimensional code image area, performing straight line fitting on the extracted edge contour, fitting into four straight lines, taking an intersection point of the four straight lines as an angular point of the two-dimensional code, and taking a connection line intersection point of two groups of diagonal angular points as a midline point of the two-dimensional code, thereby finishing fine positioning of the two-dimensional code. Two-dimensional code coarse positioning and two-dimensional code fine positioning are carried out in sequence, accurate positioning of two-dimensional code intersection points in an image is achieved, preliminary extraction of two-dimensional code contour coarse is achieved through contrast, contour lines are combined based on straight line fitting, and accurate positioning of two-dimensional code angular points in the image is achieved.

Description

technical field

[0001] The invention belongs to the field of positioning technology, and more specifically, the invention relates to a two-dimensional code positioning method and a two-dimensional code-based mobile robot positioning method. Background technique

[0002] Mobile robots have been widely used in post-disaster search and rescue, smart factories, smart e-commerce warehousing and other fields, and precise positioning technology is the key technology for mobile robots to accurately complete tasks. The positioning methods of mobile robots include odometer positioning method, magnetic strip positioning method and visual positioning method, etc. Among them, the odometer-based method uses the photoelectric encoder configured on the wheel of the mobile robot to record the number of rotations of the wheel, and The approximate pose of the mobile robot is estimated by the dead reckoning method, but the encoder method will cause errors due to wheel slippage, resulting in cum...

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