摘要
在需要机器人做出快速反应的环境中,为了解决通过廉价传感器(彩色视觉)实现自主机器人的定位,提出了基于约束路标(CBL)的双目视觉自主机器人定位方法.在CBL的路标测量类型中增加了直线的斜率,同时双目视觉的协作为定位提供了更多信息,提高了机器人位姿估计的准确度.实验结果表明了该方法的可行性和有效性.
An approach is presented to solve the robot localization for environment which needs robot's highly reactive ability, such as robot soccer. This localization method is based on constraint-based landmark localization (CBL). It expands CBL's landmark measurement types, and line slope. And binocular vision provides more information to localization. Experimental results show that this localization method is effective and corrective.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
2004年第7期896-898,共3页
Journal of Harbin Institute of Technology
基金
国家高技术研究发展计划资助项目(2001AA422270).
