The invention discloses a travelling
robot positioning system based on a
single camera. In the
system, a
point model is adopted for representing an
environmental model, an off-line map is calibrated, an
action model and an observation model are established for carrying out position updating and road sign calibration, Monte Carto
particle filter technology is adopted, particle swarm distribution with weights is adopted for representing
robot pose estimation, the weights and the distribution of particles are updated through road sign matching
processing, field particle distribution is rasterized, and a sub-region with maximal
particle density is selected for positioning the
robot. As an independent platform, the
system greatly improves the map calibration technology on the
environmental model, has great flexibility on the identification of
ground line sections, and just needs re-calibration but not needs model re-establishment after environment change. The model reduces the matching complexity in
visual processing and improves calculation efficiency. The Monte Carlo localization
algorithm is expanded on the
information integration processing technology, thus ensuring the real-time property and robustness of the
system.