基于Kinect传感器的移动机器人环境检测方法

Environmental Detection Method of Mobile Robot Based on Kinect Sensor

机器人在生活与生产中具有广泛应用,文中针对目前环境检测机器人出现的无法识别特定目标、识别精度低和受环境影响大的缺点,提出了一种基于Kinect传感器的移动机器人环境检测方法。该方法基于Kinect传感器,将传感器采集的图像视频信息与深度数据进行处理,从而实现对环境中的特征已知目标与未知目标的识别。其中,特征已知目标可以通过颜色特征进行检测,特征未知目标则是利用地面深度算法并获取图像轮廓以达到识别检测的目的,对于移动机器人的位置信息可通过传感器成像模型进行三维空间定位。最后对此检测方法进行基于移动机器人实验平台的实验验证,验证结果表明该方法能够有效进行环境的识别检测。

Robot in life and production has a wide range of applications. In this paper,a new method of mobile robot environment detection based on Kinect sensor is proposed to solve the shortcomings of the current environmental detection robot which can not recognize specific targets,low recognition accuracy and environmental impact. The method is based on Kinect sensor,processing the sensor collecting image video information and depth data,in order to achieve the feature known target and unknown target recognition in the environment,among them,the feature known target can be detected by color characteristics,the feature unknown target is the use of ground depth algorithm and obtain the image contour to achieve the purpose of identification testing. The position information of the mobile robot can be positioned in three dimensions by the sensor imaging model. At the end of this paper,this experimental method based on the mobile robot experiment platform is verified. The results show that the method can effectively detect the environment information.