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一种鲁棒的室外移动机器人路标定位系统
  • 期刊名称：上海交通大学学报, 44(9): 1181-1186, 2010. (EI号 20104313334
  • 时间：0
  • 分类：TP242.6[自动化与计算机技术—控制科学与工程;自动化与计算机技术—检测技术与自动化装置]
  • 作者机构：[1]上海交通大学电子信息与电气工程学院,上海200240, [2]哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨150001
  • 相关基金：国家自然科学基金项目（60775062 60934006）; 机器人技术与系统国家重点实验室开放研究项目; 新世纪优秀人才支持计划项目（NCET-07-0538）
  • 相关项目：大规模移动机器人网络的建模与控制
关键词： 移动机器人, 室外定位, 路标识别, 近红外光, 全景视觉, mobile robot, outdoor localization, landmark recognition, near infrared, omni-directional（vision）
中文摘要：

针对移动机器人室外作业需要,提出了一种对光照度的大范围变化具有良好鲁棒性的路标识别与定位系统.通过近红外光主动照明来降低可见光照度变化和阴影等因素对视觉的影响;利用全景视觉系统获取大范围的路标信息,采用动态大津法实现二值化,突出了光照度不均情况下的路标特征,以提高路标的识别率.室外环境下移动机器人定位实验结果表明,该方法对于大范围变化的光照度具有良好的鲁棒性.

英文摘要：

A landmark recognition and localization system with an enhanced robustness against large changes of lighting conditions eas presented for outdoor mobile robot.A near infrared illuminator was used for reducing the interference of natural light and shadow.The omni-directional camera could capture images with more landmarks in a wide range of environment.For improving the landmark＇s recognition rate,a dynamic OTSU binarization method was adopted for enhancing the feature of landmarks in uneven lighting image.The outdoor real-robot localization experiments demonstrate the system＇s robustness.

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