摘要
提出一种基于视觉的跟踪特征点的室内导航方法,即在地面上布置具有几何位置关系的特征点序列,利用单目摄像头采集图像,通过图像处理提取跟踪特征点的坐标值,再利用计算机图像坐标系和世界坐标系之间的转换关系,计算出移动机器人在世界坐标系中相对特征点的偏移距离和偏移角作为反馈,来控制移动机器人,以达到室内导航的目的。
An indoor visual navigation method by tracking feature points is presented in this paper. Some geometrical feature points are set on the floor, and the image gathered by single camera is processed to get the coordinates of the feature points. From the relation of world coordinate and the computer image coordinate, the distance and angle offset relative to the feature points in the world coordinate are calculated as the feedback to control the mobile robot. Thus the indoor navigation is realized.
出处
《机电工程》
CAS
2004年第5期9-13,共5页
Journal of Mechanical & Electrical Engineering
基金
上海市教委青年科学基金资助项目(01QN60)。
