基于二维码的单目视觉测距移动机器人定位研究

Study on Mobile Robot Localization Monocular Vision Based on QR_code

为了提高移动机器人在未知环境下定位精度,使用里程计结合高清摄像机单目视觉测距对移动机器人定位技术进行了研究,针对编码器短距离定位精确,长距离定位存在积累误差的问题,提出非接触式的基于二维码单目视觉测距的方法实现移动机器人的定位。在二维码世界坐标已知的情况下,移动机器人向前运动,高清摄像机通过识别二维码,得知二维码的世界坐标,由此推导出机器人相对于二维码的世界坐标,得出的机器人坐标是基于二维码的绝对坐标值,故消除了编码器存在的累计误差,从而使移动机器人定位更加准确。与传统的里程计定位方式相比,该定位算法定位成功率提升30%~50%。

In order to improve the positioning accuracy of mobile robot in complex environment,combined w ith odometry and monocular vision measuring HD camera of mobile robot positioning technology. Aiming at the problem of error accumulation in long distance positioning w hile precision in short distance positioning of encoder,put forw ard the QR_code positioning method of monocular vision for mobile robot based on non contact type. In the QR_code w orld coordinates are know n,the mobile robot moves forw ard,high-definition camera through the identification of QR_code,QR_code that the w orld coordinates,deduces the robot relative to the w orld coordinate of QR_code,the robot coordinate is QR_code of absolute coordinates onto a cumulative error is eliminated based on the existing encode. Thus the mobile robot positioning is more accurate. Compared w ith the traditional odometry positioning method,the improved positioning algorithm can improve the success rate of 30% ~ 50%.