电子器件Issue(5)：876-881,6.DOI:10.3969/j.issn.1005-9490.2014.05.017
基于自然环境辨识的移动机器人位姿快速检测
Fast Detection of Mobile Robot Pose Based on the Nature Environment Recognition
摘要
Abstract
In order to detect the pose of outdoor mobile robot fast and exactly,and based on Poineer3 platform,we have carried on the outdoor video image acquisition. With the method of local fractal dimension and neutral network,we achieve the recognition of the ground. Then to the ground as the research object,Horn-Schunck optical flow method is used to calculate optical flow of the ground. And then by the relation between the image coordinate system and the robot coordinate system, the distance is measured between the research object and the robot. According to the relationship of velocity of movement and optical flow velocity,the optical flow velocity is converted to the speed of robot, so as to realize the position detection of the robot. The experimental result shows that the method is feasible and easy to operate with fast inspection speed.关键词
机器人视觉/位姿检测/光流/室外环境辨识Key words
robot vision/the position detection/optical flow/identification of the outdoor environment分类
信息技术与安全科学引用本文复制引用
张颖超,段京易,胡凯,茅丹..基于自然环境辨识的移动机器人位姿快速检测[J].电子器件,2014,(5):876-881,6.基金项目
国家公益性行业(气象)科研专项项目( GYHY201106040) （气象）
江苏省产学研联合创新资金---前瞻性联合研究项目(BY2011111) （BY2011111）
江苏省产学研项目(2012t026) （2012t026）
