The method for robot selflocalization based on vision features heavy information load,high flexibility,and low cost as compared to traditional localization methods.Aimed at selflocalization of indoor mobile robots,“four principles” for artificial landmark design were proposed,while at the same time corresponding artificial landmark graphics were designed.The character encoding method was employed to define artificial landmarks,and the selflocalization method of shapes matching of least squares based on image pyramid was chosen.The selflocalization of the robot was completed by using the “foregone conclusionlocalizationorientation” hierarchical identification strategy.It is found through an experimental analysis that selflocalization reaches Subpixel accuracy,and the localization method has good realtime and recognition rate.
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谢煌生,刘周林.基于视觉和人工地标的机器人自定位方法[J].机床与液压,2015,43(21):66-69. . A Method for Robot Selflocalization Based on Vision and Artificial Landmark[J]. Machine Tool & Hydraulics,2015,43(21):66-69