[1]杨树玉,蔡富东,赵鹏鹏,等.一种基于立式突出路标的巡检机器人视觉自定位方法[J].南京师范大学学报(工程技术版),2019,19(03):045.[doi:10.3969/j.issn.1672-1292.2019.03.007]
　Yang Shuyu,Cai Fudong,Zhao Pengpeng,et al.A Visual Self-localization Method of Patrol Robot Based onVertical Highlighted Landmarks[J].Journal of Nanjing Normal University(Engineering and Technology),2019,19(03):045.[doi:10.3969/j.issn.1672-1292.2019.03.007]
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一种基于立式突出路标的巡检机器人视觉自定位方法
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南京师范大学学报（工程技术版）[ISSN:1006-6977/CN:61-1281/TN]

卷:
19卷
期数:
2019年03期
页码:
045
栏目:
计算机工程
出版日期:
2019-09-30

文章信息/Info

Title:
A Visual Self-localization Method of Patrol Robot Based onVertical Highlighted Landmarks
文章编号:
1672-1292(2019)03-0045-08
作者:
杨树玉1; 2; 3; 蔡富东4; 赵鹏鹏1; 2; 3; 韩延彬1; 2; 3; 李金屏1; 2; 3
(1.济南大学信息科学与工程学院,山东 济南 250022)(2.济南大学山东省网络环境智能计算技术重点实验室,山东 济南 250022)(3.山东省“十三五”高校信息处理与认知计算重点实验室,山东 济南 250022)(4.山东信通电子股份有限公司,山东 淄博 255088)
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)
关键词:
巡检机器人; 视觉定位; 人工路标; 立式路标; 透视模型
Keywords:
patrol robot; visual localization; artificial landmark; vertical landmark; perspective model
分类号:
TP391
DOI:
10.3969/j.issn.1672-1292.2019.03.007
文献标志码:
A
摘要:
在某些不允许对环境做出大量改造的苛刻的室内定位条件下,传统的定位方法很难满足巡检机器人定位的需求,而使用视觉方法尽可能利用环境中的自然路标或布设少量人工路标辅助定位是一种可行的方案. 鉴于某些特殊场合不允许在地面布设定位标志,提出了一种应用少量立式突出路标的视觉定位解决方案,即通过在环境中某些设备侧面布设少量的人工路标,利用透视模型和三角函数,完成机器人的定位. 实验表明,该定位方法操作简单,贴近实用,且可获得较为准确的定位效果,能够满足巡检机器人定位需求.
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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备注/Memo

备注/Memo:
收稿日期:2019-07-05.
基金项目:国家自然科学基金(61701192)、山东省重点研发计划(2017CXGC0810)、山东省科技重大专项(新兴产业)项目(2015ZDXX0801A03).
通讯联系人:李金屏,博士,教授,研究方向:模式识别、人工智能. E-mail:ise_lijp@ujn.edu.cn
更新日期/Last Update: 2019-09-30