A high precision visual localization sensor and its working methodology for an indoor mobile robot
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- 作者：Feng-yu Zhou ; Xian-feng Yuan ; Yang Yang…
- 关键词：Mobile robot ; Localization sensor ; Visual localization ; Infrared ; reflective marker ; Embedded system
- 刊名：Frontiers of Information Technology & Electronic Engineering
- 出版年：2016
- 出版时间：April 2016
- 年：2016
- 卷：17
- 期：4
- 页码：365-374
- 全文大小：2,105 KB
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Xian-feng Yuan (1)
Yang Yang (2)
Zhi-fei Jiang (1)
Chen-lei Zhou (1)
1. School of Control Science and Engineering, Shandong University, Jinan, 250061, China
2. School of Information Science and Engineering, Shandong University, Jinan, 250100, China - 刊物类别：Computer Science, general; Electrical Engineering; Computer Hardware; Computer Systems Organization
- 刊物主题：Computer Science, general; Electrical Engineering; Computer Hardware; Computer Systems Organization and Communication Networks; Electronics and Microelectronics, Instrumentation; Communications Engine
- 出版者：Zhejiang University Press
- ISSN：2095-9230
文摘
To overcome the shortcomings of existing robot localization sensors, such as low accuracy and poor robustness, a high precision visual localization system based on infrared-reflective artificial markers is designed and illustrated in detail in this paper. First, the hardware system of the localization sensor is developed. Secondly, we design a novel kind of infrared-reflective artificial marker whose characteristics can be extracted by the acquisition and processing of the infrared image. In addition, a confidence calculation method for marker identification is proposed to obtain the probabilistic localization results. Finally, the autonomous localization of the robot is achieved by calculating the relative pose relation between the robot and the artificial marker based on the perspective-3-point (P3P) visual localization algorithm. Numerous experiments and practical applications show that the designed localization sensor system is immune to the interferences of the illumination and observation angle changes. The precision of the sensor is ±1.94 cm for position localization and ±1.64◦ for angle localization. Therefore, it satisfies perfectly the requirements of localization precision for an indoor mobile robot.