计算机技术与发展Issue(3)：106-109,4.DOI:10.3969/j.issn.1673-629X.2014.03.027
基于立体视觉的移动机器人导航算法
A Navigation Algorithm for Mobile Robot Based on Stereo Vision
摘要
Abstract
Mobile robot stereo vision system not only provides 3D terrain map to be used in obstacle avoiding and path planning,but also lays the base for visual navigation. The visual odometry algorithm based on two stereo pairs is studied for application in continuous navi-gation. The factors related to navigation precision are discussed and improvement measures are presented. A terrain matching algorithm based on local and global terrain map is proposed for application in positioning error correction. The algorithm is simple and convenient and its precision depends mainly on the precision of terrain map. Experiments with analog lunar terrain indicate that these two algorithms are effective and can be used in close range and long range navigation.关键词
立体视觉/视觉测量/地形匹配Key words
stereo vision/visual odometry/terrain matching分类
信息技术与安全科学引用本文复制引用
侯建,鄂旭,夏齐,齐乃明..基于立体视觉的移动机器人导航算法[J].计算机技术与发展,2014,(3):106-109,4.基金项目
国家自然科学基金资助项目(61171189) （61171189）
辽宁省教育科学研究一般项目(L2012400,L2012396,L2012397) （L2012400,L2012396,L2012397）
博士后基金项目(2012M520158) （2012M520158）
