基于人工路标的易部署室内机器人全局定位系统

Man-made landmark based convenient indoor-robot global localization system

在一些布局易变或存在较多动态障碍物的室内,移动机器人的全局定位依然面临较大的应用挑战。针对这类场景,实现了一种新的基于人工路标的易部署室内机器人全局定位系统。该系统将人工路标粘贴在不易被遮挡的天花板上来作为参照物,仅依赖一个摄像头即能实现稳定的全局定位。整个系统根据具体的功能分为地图构建和全局定位两个过程。在地图构建过程中,系统使用激光SLAM算法所输出的位姿估计结果为基准,根据相机对路标点的观测信息来自动估计人工路标点在全局坐标系中的位姿,建立人工路标地图。而在全局定位过程中,该系统则是根据相机对地图中已知位姿的人工路标点的观测信息,结合里程计与IMU融合的预积分信息来对位姿进行实时估计。充分的实验测试表明,机器人在该系统所部署范围内运行的定位误差稳定在10 cm以内,且运行过程可以保证实时位姿输出,满足典型实际室内移动机器人全局定位的应用需求。

Global localization algorithms for mobile robot still face many challenges when using in some indoor environments,where the layout changes frequently or there are many dynamic obstacles.Aiming at such scenarios,this paper proposed a new and convenient global localization system based on man-made landmark.The system localized based on multiple man-made landmarks attached on the unshaded ceiling,and could achieve stable pose estimation with only one camera.The whole system consisted of two main processes:map construction and global localization,according to their specific functions.During the map construction,it automatically estimated the pose of the man-made landmark in the global coordinate system,according to the camera’s observation of the landmark and the pose estimation output by some laser SLAM algorithm.Given this,it then established the map of environment based on the pose of each landmark.During the global localization,it estimated the robot’s pose in real time based on the camera’s observation of the man-made landmarks in the map with known poses,combined with the pre-integrated information fused with the odometer and IMU.Sufficient experiments show that the localization error of the system is stable within 10 cm when running in the deployed environment,and the system can also ensure real-time pose output,which meets the application requirements of typical indoor mobile robot global localization.