|Table of Contents|

A Visual Self-localization Method of Patrol Robot Based onVertical Highlighted Landmarks(PDF)

南京师范大学学报（工程技术版）[ISSN:1006-6977/CN:61-1281/TN]

Issue:
2019年03期
Page:
45-
Research Field:
计算机工程
Publishing date:

Info

Title:
A Visual Self-localization Method of Patrol Robot Based onVertical Highlighted Landmarks
Author(s):
Yang Shuyu1; 2; 3; Cai Fudong4; Zhao Pengpeng1; 2; 3; Han Yanbin1; 2; 3; Li Jinping1; 2; 3
(1.School of Information Science and Engineering,University of Jinan,Jinan 250022,China)(2.Shandong Provincial Key Laboratory of Network Based Intelligent Computing,University of Jinan,Jinan 250022,China)(3.Shandong College and University Key Laboratory of Information Processing and Cognitive Computing in 13th Five-year,Jinan 250022,China)(4.Shandong Senter Electronic Co.,Ltd,Zibo 255088,China)
Keywords:
patrol robot; visual localization; artificial landmark; vertical landmark; perspective model
PACS:
TP391
DOI:
10.3969/j.issn.1672-1292.2019.03.007
Abstract:
In some special indoor cases,a large number of modifications on environment are not allowed. Therefore,it is difficult for traditional localization methods to localize them. Through the way of vision,it is feasible to use the natural landmarks in the environment or lay a small number of artificial landmarks to assist the positioning. On certain special occasions,localization landmarks are not allowed arrangement to the ground,so a visual method is proposed to use a small amount of vertical highlighted labels to localization. By setting a small amount of artificial landmarks in the environment,using the principle of perspective model and trigonometric function,robot localization is completed. The experiment shows that the proposed method is simple and practical,and that moreover,it can obtain localization information accurately and meet the location requirements of the patrol robot.

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Last Update: 2019-09-30