基于标志物识别的机器人自我定位算法研究

Self-positioning algorithm based on marker recognition

针对特定环境下清扫机器人自我精确定位问题,提出一种基于图像处理技术的标志物识别算法,进而基于标志物位置信息的定位算法研究,可实现室外环境下清扫机器人的自我实时定位。该识别算法主要通过标志物的选定以及结合室外环境下标志物的颜色及边缘特征研究实现,获得了室外环境下标志物准确识别以及基于标志物的自我精确定位的实验效果。

Aiming at the problem of self-accurate positioning of cleaning robot in specific environment,a marker recognition algorithm based on image processing technology is proposed,and then the positioning algorithm based on the location information of markers is studied,which can realize the self-real-time positioning of cleaning robot in outdoor environment.This recognition algorithm is mainly realized through the selection of markers and combined with the research on the color and edge features of markers in outdoor environment.The experimental results of accurate identification of markers in outdoor environment and self-accurate positioning based on markers are obtained.