[1]张智,张磊,苏丽,等.基于人工离线特征库的室内机器人双目定位[J].哈尔滨工程大学学报,2017,38(12):1906-1914.[doi:10.11990/jheu.201610060]
 ZHANG Zhi,ZHANG Lei,SU Li,et al.Binocular localization of indoor robot based on artificial offline feature-database[J].hebgcdxxb,2017,38(12):1906-1914.[doi:10.11990/jheu.201610060]
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基于人工离线特征库的室内机器人双目定位(/HTML)
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《哈尔滨工程大学学报》[ISSN:1006-6977/CN:61-1281/TN]

卷:
38
期数:
2017年12期
页码:
1906-1914
栏目:
出版日期:
2017-12-25

文章信息/Info

Title:
Binocular localization of indoor robot based on artificial offline feature-database
作者:
张智 张磊 苏丽 郭文县
哈尔滨工程大学 自动化学院, 黑龙江 哈尔滨 150001
Author(s):
ZHANG Zhi ZHANG Lei SU Li GUO Wenxian
College of Automation, Harbin Engineering University, Harbin 150001, China
关键词:
移动机器人室内机器人定位双目视觉稳健特征点离线建库稀疏性策略EKF-SLAM
分类号:
TP242.6
DOI:
10.11990/jheu.201610060
文献标志码:
A
摘要:
针对室内复杂环境下的移动机器人的定位问题,研究了一种能够适应空间狭小、特征点密集的环境的双目视觉定位方法。以基于扩展卡尔曼的同时定位与地图创建方法为基础,并为了克服算法计算量过大(特征点数较多时)、关联脆弱等问题,设计了人工离线建立特征库的方法,并引入了稀疏性限制、稳健点筛选等改进措施,保证了特征库分布均匀、数量可控。实验结果表明:本文方法能够在复杂环境下实时定位,具有较高的可靠性和精度。算法通过引入了特征库定期更新策略来适应环境变化,从而可实现长期有效地定位。

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2016-10-18。
基金项目:国家自然科学基金项目(51409053);黑龙江省自然基金项目(E201414).
作者简介:张智(1981-),男,副研究员;张磊(1990-),男,硕士研究生.
通讯作者:张磊,E-mail:alwaysbestzl@126.com.
更新日期/Last Update: 2018-01-13