Moving robot's vision navigation method based on image representation feature

A mobile robot and image technology, applied in the field of visual navigation of mobile robots, can solve the problems of large calculation time, many artificial constraints, and failure to meet the actual system, and achieve the effect of long detection distance and good recognition of environmental characteristics

Inactive Publication Date: 2005-01-26
INST OF AUTOMATION CHINESE ACAD OF SCI
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AI Technical Summary

Problems solved by technology

Although the visual sensor can provide a lot of useful information for the robot system, due to the large amount of computing time required by most of the existing algorithms, it is far from meeting the needs of the actual system, so a balance must be struck between accuracy and speed
Although vision-based methods are closer to nature, today's algorithms are basically based on structured environments and artificial landmarks, and there are many artificial constraints. How to find a suitable algorithm to achieve a more natural expression is an important issue in today's visual navigation research. research trends

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  • Moving robot's vision navigation method based on image representation feature
  • Moving robot's vision navigation method based on image representation feature
  • Moving robot's vision navigation method based on image representation feature

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Embodiment Construction

[0020] At present, in the research on the navigation technology of mobile robots based on vision, three aspects are mainly aimed at: self-localization; map construction and path planning; obstacle detection and avoidance. Among them, self-positioning is the key to navigation technology. For example, determining the initial position, the target position, and the real-time position during the movement are all self-positioning, that is, you need to know a question: "Where am I?" The present invention proposes a novel, fast , an effective vision-based self-localization method, and based on this, a construction method of a scene map suitable for this positioning method is proposed, so as to achieve the purpose of vision-based navigation for mobile robots.

[0021] The more commonly used self-positioning methods using vision can be divided into two types: using marker recognition methods and scene image recognition methods. The so-called marker method means that there are some arti...

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Abstract

The invention is a vision navigating method for mobile robot based on image representation character. It includes steps: the mobile robot detects the natural marked object automatically; matches the current image with the image and scene in sample bank, in order to determinate the current position. The method solves the hardware problem caused by former navigation system with sensor, which can be applied to non-field environment where the traditional navigation mode is difficult to be adaptive, and carries on the self localization of mobile robot. The navigation method combines the scene mark detection and scene image representation analysis.

Description

technical field [0001] The invention relates to a visual navigation method of a mobile robot, in particular to a visual navigation method of a mobile robot combined with a natural marker method and a method based on image representation features. Background technique [0002] After decades of rapid development, the field of robotics has become more and more systematic and mature. Various types of robots have been more and more widely used in modern industry, military, aerospace, medical, transportation, service and many fields of human life. As an important and typical research direction in the field of robot research, the intelligent mobile robot has been paid more and more attention by research institutions at home and abroad, and has become an active branch of the robot industry today. In recent years, the technology of many industrial intelligent mobile robots at home and abroad has made great progress, and Western countries have invested more funds to develop various t...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J13/08B63B49/00G06K9/00
CPCG06K9/00664G06V20/10
Inventor 谭铁牛魏玉成周超
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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