摘要
综述了RoboCup足球赛中全自主移动机器人基于视觉的定位技术,包括机器人自定位和多机器人协作物体定位.介绍了定位技术的发展情况与分类.从机器人环境构建形式的不同以及先验位姿和概率方法的应用与否等方面,系统地分析和比较了各种自定位方法.对于多机器人协作物体定位,阐述了静态方法和动态跟踪方法.总结了定位过程中需要重点研究的传感器模型构建、图像处理、特征匹配以及协作过程涉及的相关问题.最后就视觉定位存在的问题和技术发展趋势进行了讨论.
The work aims to summarize the vision-based localization approaches for autonomous mobile robots in RoboCup competition,and studies the serf-localization and coordinated multi-robot object localization. Firstly, the state of arts and categories of localization techniques were presented. According to whether prior pose or the probabilistic approaches are used and how the representations of working environments are constructed, this paper systematically compared and analyzed various selflocalization methods. For coordinated object localization, the static and dynamic tracking methods were investigated. Several key issues related to multi-robot collaborative task, especially visual sensor modeling, image processing and feature matching applied in serf-localization were discussed respectively. Finally, some existing problems were pointed out and the technique development trends were given.
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2005年第4期597-603,共7页
Control Theory & Applications
基金
中科院沈阳自动化研究所机器人学重点实验室基金资助项目(RL200204)
辽宁省高等学校学科拔尖人才资金资助项目(2003-54).
