中山大学学报（自然科学版）Issue(5)：45-50,6.
基于障碍物地平角点的移动机器人定位*
A Method of Localization for Mobile Robot Based on Obstacle-Ground-Corner
摘要
Abstract
Using the assumption of the horizontal plane,a method of fast localization for mobile robot is presented.This method addresses an Obstacle-Ground-Corner extraction algorithm combined with the Harris-Laplace operator,fast mean shift and stereo vision,and then uses the obstacle ground corners as landmarks.The adaptive particle filtering method is used to fusion the landmarks depth and position to a-chieve an efficient and more accurate fast localization,the computational complexity of localization algo-rithm is greatly reduces due to the use of a small number of landmarks.The results of experiment illustra-ted the effectiveness of this method.关键词
障碍物地平角点/移动机器人定位/立体视觉Key words
obstacle-ground-corner/mobile robot localization/stereo vision分类
信息技术与安全科学引用本文复制引用
郭丙华,李中华..基于障碍物地平角点的移动机器人定位*[J].中山大学学报（自然科学版）,2013,(5):45-50,6.基金项目
国家自然科学基金资助项目 （）
