机器人2011，Vol.33Issue(5)：606-613,8.DOI:10.3724/SP.J.1218.2011.00606
基于全景视觉的机器人回航方法
Robot Homing Based on Panoramic Vision
摘要
Abstract
A method of robot homing based on panoramic vision is proposed. The omni-directional images of home posi-tion can be collected through the panoramic vision device. Then, feature points in the omni-directional image are extracted by adopting SURF (Speeded-Up Robust Feature) algorithm and are used as natural landmarks. During the course of homing, the panoramic images of home position and current position are matched using SURF algorithm, so that the corresponding relations of the natural landmarks between the current and the home images are determined. A method for estimating robot rotation angle is proposed, and fault landmark matches can be eliminated. According to changes of the landmarks' included angles between the home position and current position, the home direction can be calculated to control robot homing. When the included angle between landmarks reaches a threshold value, the robot gets to the original orientation and completes homing mission. The experiment results show that the position error is less than 0.05 m, and the azimuth error is less than 3°. This method doesn't use manual landmarks nor angle sensors, and can be applied to service robots, robot soccer and so on.关键词
机器人/全景视觉/视觉回航/SURF特征Key words
robot/ panoramic vision/ visual homing/ SURF (Speeded-Up Robust Feature)分类
信息技术与安全科学引用本文复制引用
朱齐丹,李科,雷艳敏,孟祥杰..基于全景视觉的机器人回航方法[J].机器人,2011,33(5):606-613,8.基金项目
国家自然科学基金资助项目(60875025). （60875025）
