基于图像相似性测量的移动机器人定位研究

Images Comparability Measure Based Localization of a Mobile Robit

Hausdorff距离可以用来测量出图像之间的相似程度 ,在图像匹配、模式识别有广泛的应用。文中报告了 Hausdorff测量在移动机器人定位方面的研究结果。研究了全向成像系统结构、Hausdorff分数测量在定位中的应用等内容 ,较好地解决了环境部分遮挡时的定位问题。研究结果在移动机器人平台上试验取得了较好的效果。

In this paper, we provide the result of researching localization of mobile robot by using Hausdorff fraction measure. Omnidirectional camera architectute, panoramic view rerising, Hausdorff fraction in easure im location PCA approximation to Haustdorff fraction are discussed, and an efficient method for localizing when there is a partial occlusion in the enviromment is derived. With the method we get desirable testing result in indoor environment.