摘要
针对移动机器人的局部视觉定位问题进行了研究。首先通过移动机器人视觉定位与目标跟踪系统求出目标质心特征点的位置时间序列 ,然后在分析二次成像法获取目标深度信息的缺陷的基础上 ,提出了一种获取目标的空间位置和运动信息的方法。该方法利用序列图像和推广卡尔曼滤波 ,目标获取采用了 HIS模型。在移动机器人满足一定机动的条件下 ,较精确地得到了目标的空间位置和运动信息。仿真结果验证了该方法的有效性和可行性。
The method for visual locating under the condition fixed on the mobile robot is researched. The target centroid sequence is obtained from the vision localization and target tracking system. The limitation of the second focus method for acquiring the depth of the object is analyzed and a method for acquiring space position and motion parameters of moving objects proposed. HIS model is used in the target acquirement. According to the image sequence and the extended Kalman filter algorithm, the space position and motion parameters of moving target are obtained. Simulation results demonstrate that the method is effective and recommendable.
出处
《数据采集与处理》
CSCD
2004年第4期433-437,共5页
Journal of Data Acquisition and Processing
