Vision-based modular platform relative pose estimation system

Abstract

The invention discloses a vision-based modular platform relative pose estimation system, which comprises a master controller, an upper computer, a controller, a driver, an encoder and a camera; the front face and the right side face of each mobile robot are each provided with a camera, and the rear face and the left side face of each mobile robot are each provided with a double-two-dimensional-code target used for pose detection. Encoders are arranged on a left wheel and a right wheel of each mobile robot, each mobile robot corresponds to one set of upper computer, controller and driver, the controller is connected with the upper computer, the driver is connected with the controller, the camera is connected with the upper computer, and each upper computer is connected with the master controller. According to the system, the estimation capability of the relative pose between modular robot platforms is improved, the system is simple and low in cost, the real-time performance of pose estimation is good, the accuracy of pose estimation is ensured, the estimation of the relative pose between robots with partial incomplete or inaccurate information is realized, and the problem of target loss caused by visual detection is solved to a certain extent.

Description

technical field [0001] The invention relates to a system for obtaining overall relative pose information of a modular platform by means of a camera, and belongs to the technical field of positioning of the modular platform. Background technique [0002] Modular robot platform refers to multiple mobile platforms with different functions, which can change its configuration autonomously without human participation according to the changing requirements of the working environment to adapt to the new working environment. In a modular system, in order to ensure the operating range and variable configuration capability of the modular platform, it is necessary to obtain the relative pose information between the robot modules, and at the same time ensure the real-time performance of the relative pose information between the robot modules, so that the control system can make each The module smoothly enters the predetermined function area of ​​the platform to realize various functions ...

AI Technical Summary

Problems solved by technology

[0008] 1) It is not suitable for modular robot platforms with multiple mobile platforms, and a relative pose system with multiple modules cannot be built;

[0009] 2) Robot pose estimation is acceptable for position information estimation, but the error value of pose information estimation is relatively large; 3) Only for pose estimation between two modules, there is no relative pose system for the overall modular platform

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