基于全景视觉的机器人回航方法

Robot Homing Based on Panoramic Vision

提出一种使用全景视觉系统引导机器人回航的方法.利用全景视觉装置采集出发位置(Home位置)的全景图像,使用SURF(Speeded-Up Robust Feature)算法提取全景图像中的特征点作为自然路标点.机器人回航过程中,将当前位置获得的全景图像与Home位置的全景图像进行特征匹配,确定自然路标点之间的对应关系.提出机器人旋转角度估算方法,消除路标点之间的错误匹配.分析路标点夹角的变化情况,推导出正确的回航方向,控制机器人回航.当路标点夹角达到阈值时,机器人旋转到初始时的方位角完成回航过程.实验结果表明,机器人的位置误差小于0.05m,方位角误差小于3°.本文方法无需使用人工路标和角度传感器,可以应用到服务机器人、足球机器人等领域.

A method of robot homing based on panoramic vision is proposed.The omni-directional images of home position can be collected through the panoramic vision device.Then,feature points in the omni-directional image are extracted by adopting SURF（Speeded-Up Robust Feature） algorithm and are used as natural landmarks.During the course of homing, the panoramic images of home position and current position are matched using SURF algorithm,so that the corresponding relations of the natural landmarks between the current and the home images are determined.A method for estimating robot rotation angle is proposed,and fault landmark matches can be eliminated.According to changes of the landmarks＇ included angles between the home position and current position,the home direction can be calculated to control robot homing.When the included angle between landmarks reaches a threshold value,the robot gets to the original orientation and completes homing mission.The experiment results show that the position error is less than 0.05 m,and the azimuth error is less than 3°. This method doesn＇t use manual landmarks nor angle sensors,and can be applied to service robots,robot soccer and so on.