| 激光和全维视觉融合的移动机器人自定位(英文) |
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| 引用本文： | 黄怡,曹其新.激光和全维视觉融合的移动机器人自定位(英文)[J].华中科技大学学报(自然科学版),2004(Z1). |
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| 作者姓名： | 黄怡 曹其新 |
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| 作者单位： | 上海交通大学机器人研究所 |
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| 摘 要： | 讨论了通过二维激光传感器和全维视觉传感器提取数据融合技术进行移动机器人定位的新方法 .SICKoptics公司制造的二维激光传感器能精确地测量出反射点的距离和方位 ,我们自己设计的全维视觉系统能从图像中提取场地标记物的色块信息 ,这两种传感器提取的数据有各自不同的特征 ,因此在本文所给出的融合方法中它们能优势互补 .RoboCup中型组的足球机器人 (守门员 )被选择来验证算法 ,最后给出了试验的结果 .
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| 关 键 词： | 移动机器人 全维视觉 激光传感器 融合 定位 |
Using 2-D laser scanner and omni-directional vision for mobile robot localization |
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| Huang Yi,Cao Qixin.Using 2-D laser scanner and omni-directional vision for mobile robot localization[J].JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE,2004(Z1). |
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| Authors: | Huang Yi Cao Qixin |
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| Abstract: | The paper discusses a new mobile robot localization method by means of fusion of a 2-D laser scanner and omni-directional vision. This 2-D laser scanner, which manufactured by SICK optics, can measure precise distance and direction of reflecting points, and this omni-directional vision, which we developed, can identify some landmarks by extracting the blob information from the image. The data extracted from both sensors are different in character, so they compensate each other in the fusion method. A RoboCup middle size league soccer robot (goalkeeper) is chosen to test the algorithm, experimental results are provided. |
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| Keywords: | mobile robot omni-directional vision laser scanner fusion localization |
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