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移动机器人视觉定位方法的研究与实现
Alternative TitleM obile Robot Visual LocatingM ethod and Its Real ization
于秀芬; 段海滨; 龚华军; 北京8701信箱
Department国家863计划微波遥感技术实验室
Source Publication数据采集与处理
2004
Volume19Issue:4Pages:433-437
ISSN1004-9037
Language中文
Keyword移动机器人 运动信息 视觉定位 序列图像 仿真结果 特征点 深度信息 目标获取 目标跟踪系统 推广卡尔曼滤波
Abstract针对移动机器人的局部视觉定位问题进行了研究.首先通过移动机器人视觉定位与目标跟踪系统求出目标质心特征点的位置时间序列,然后在分析二次成像法获取目标深度信息的缺陷的基础上,提出了一种获取目标的空间位置和运动信息的方法.该方法利用序列图像和推广卡尔曼滤波,目标获取采用了HIS模型.在移动机器人满足一定机动的条件下,较精确地得到了目标的空间位置和运动信息.仿真结果验证了该方法的有效性和可行性.
Other AbstractThe method fo r visual locat ing under the condit ion f ixed on the mob ile robo t is researched. The target cen t ro id sequence is ob tained f rom the vision localizat ion and target tracking system.The limitation of the second focu s method for acquiring the dep th of the object is analyzed and a method fo r acqu iring space po sit ion and motion parameters of moving objects proposed.HIS model is used in the target acqu iremen t. A cco rding to the image sequence and the ex tended Kalman f ilter algo rithm ,the space position and motion parameters of moving target are ob tained. Simu lat ion resu lt s demon st rate that the method is effect ive and recommendable.
Indexed ByCSCD
Funding Project中国科学院空间科学与应用研究中心
Citation statistics
Document Type期刊论文
Identifierhttp://ir.nssc.ac.cn/handle/122/2017
Collection微波遥感部
Corresponding Author北京8701信箱
Recommended Citation
GB/T 7714
于秀芬,段海滨,龚华军,等. 移动机器人视觉定位方法的研究与实现[J]. 数据采集与处理,2004,19(4):433-437.
APA 于秀芬,段海滨,龚华军,&北京8701信箱.(2004).移动机器人视觉定位方法的研究与实现.数据采集与处理,19(4),433-437.
MLA 于秀芬,et al."移动机器人视觉定位方法的研究与实现".数据采集与处理 19.4(2004):433-437.
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