控制理论与应用2012，Vol.29Issue(5)：585-591,7.
基于全景视觉匹配的移动机器人蒙特卡罗定位算法
Monte Carlo localization for mobile robot based on omnidirectional image matching
摘要
Abstract
We propose an algorithm to solve the omnidirectional image matching problem by using the histogram of gradient orientation. By combining the matching algorithm with Monte Carlo localization algorithm, we develop a method of localization for the mobile robot based on the omnidirectional vision. The characteristics of the matching algorithm are analyzed, from which we build the observation model and develop the method for calculating the important weights for the particle filter. This method rejects the interference of perceptual aliasing during the localizing period, and helps the robot to rapidly recover from the “kidnapped”situation. Experimental results show the validity and effectiveness of the presented method.关键词
移动机器人/全景视觉/图像匹配/蒙特卡罗定位/粒子滤波Key words
mobile robot/omnidirectional vision/image matching/Monte Carlo localization/particle filter分类
信息技术与安全科学引用本文复制引用
顾爽,陈启军..基于全景视觉匹配的移动机器人蒙特卡罗定位算法[J].控制理论与应用,2012,29(5):585-591,7.基金项目
国家“863”计划资助项目 （）
上海市曙光跟踪计划资助项目 （）
国际科技合作计划资助项H （）
上海市科技人才计划资助项目（11XD1404800）. （）
