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基于近红外视觉的机器人室外定位系统 被引量：7

Mobile Robot Localization in Outdoor Environments Based on Near-infrared Vision
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摘要 在光照条件可变且存在电磁干扰的环境下,针对机器人室外导航任务,提出了一种基于全景近红外视觉和编码路标的自定位系统.通过近红外光源照明,利用全景视觉识别采用条形编码格式的路标,并利用扩展卡尔曼滤波算法(EKF)融合视觉数据和里程计数据,从而实现机器人自定位.实验证明,该方法消除了室外大范围导航时光照变化对机器人定位结果的影响. A self-localization system based on near-infrared vision and bar-coded landmarks for robot navigating in outdoor environment with variable light conditions and electromagnetic interference is presented. The near-infrared illuminator and omni-directional vision are used for recognizing bar-coded landmarks. Data from vision system and odometry are fused with an extended Kalman filter （EKF） to realize robot self-localization. The experiment result demonstrates that the proposed method eliminates the effect of light variations on robot localization in outdoor long-range navigation.
作者 王景川 陈卫东 胡仕煜 张栩
机构地区 上海交通大学自动化系
出处 《机器人》 EI CSCD 北大核心 2010年第1期97-103,共7页 Robot
基金 国家863计划资助项目(2006AA040203) 国家自然科学基金资助项目(60775062) 新世纪优秀人才支持计划资助项目(NCET-07-0538)
关键词 移动机器人 室外定位 近红外 传感器融合 mobile robot outdoor localization near-infrared sensor fusion
分类号 TP24 [自动化与计算机技术—检测技术与自动化装置]
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参考文献13

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二级参考文献14

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共引文献24

同被引文献100

引证文献7

二级引证文献84

机器人
2010年 第1期

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