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Mobile Robot Localization and Navigation System Based on Monocular Vision

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A system for mobile robot localization and navigation was presented.With the proposed system,the robot can be located and navigated by a single landmark in a single image.And the navigation mode may be following-track,teaching and playback,or programming.The basic idea is that the system computes the differences between the expected and the recognized position at each time and then controls the robot in a direction to reduce those differences.To minimize the robot sensor equipment,only one omnidirectional camera was used.Experiments in disturbing environments show that the presented algorithm is robust and easy to implement,without camera rectification.The rootmean-square error (RMSE) of localization is 1.4 cm,and the navigation error in teaching and playback is within 10 cm.

localization algorithmnavigationomni-visionmonocular vision

JIA Yunwei、LIU Tiegen、GAO Lilan、WANG Dan

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School of Precision Instrument and Opto-Electronics Engineering, Tianjin University, Tianjin 300072, China

School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300191, China

School of Computer and Communication Engineering, Tianjin University of Technology, Tianjin 300191, China

国家自然科学基金国家自然科学基金Tianjin Municipal Education CommissionTianjin Science and Technology Committee

31000422612010812011082910JCZDJC22800

2012

10.1007/s12209-012-1872-9

天津大学学报(英文版)
天津大学

天津大学学报(英文版)

EI
影响因子：0.343
ISSN：1006-4982
年,卷(期)：2012.18(5)
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