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Robot vision locating method based on round road sign imaging analysis

A technology for robotic vision and mobile robots, which is applied in the fields of instruments, photo interpretation, photogrammetry/video surveying, etc.

Inactive Publication Date: 2012-09-19
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] Aiming at the shortcomings of the current mobile visual navigation and positioning technology, such as excessive dependence on environmental information, large amount of calculation, and weak robustness, the present invention proposes an economical, fast and reliable visual positioning method relying on specially designed artificial road signs

Method used

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  • Robot vision locating method based on round road sign imaging analysis
  • Robot vision locating method based on round road sign imaging analysis
  • Robot vision locating method based on round road sign imaging analysis

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Experimental program
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Embodiment Construction

[0094] 1. Logo design

[0095] Manual identification such as figure 1 shown. The shape is round, and the logo diameter is designed to be 20 cm. Observing from different angles from the front, the logo should appear as an ellipse, which is convenient for detecting the logo from various angles. Since the logo presents an elliptical outline in the visual image, a special detection method can be used to detect it well even in the case of a certain occlusion; the edge of the logo is provided with a yellow edge with a width of 4 cm to improve the detection of the logo The accuracy rate, using the color features provided by the logo, also makes the detection easier and more reliable; the inside of the logo is black.

[0096] The logo adopts a circular outline style and two colors of yellow and black mainly to adapt to detection under outdoor conditions. First of all, the outdoor environment is complex and there are many interferences. Special styles and special colors can provid...

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Abstract

The invention discloses a robot vision locating method based on round road sign imaging analysis, belonging to the technical field of robot vision location. The robot vision locating method is characterized by comprising the following steps of: designing and placing a circular road sign; identifying the circular road sign, wherein the step of identifying the circular road sign comprises the three procedures of fitting edges with specific colors, fitting RANSAC (Random Sampling Consensus) ellipse and checking the sign; and finally, locating a mobile robot. The robot vision locating method has the advantages of location completion by using only one road sign, simple road sign mode, short detection process, capability of being used in outdoor light conditions and simpleness and rapidness in location.

Description

technical field [0001] The invention belongs to the field of robot vision positioning. technical background [0002] The visual positioning of moving objects in an environment lacking GPS positioning has always been an important research direction in the field of robotics. This positioning method that does not rely on the global positioning system has a very broad application prospect. [0003] On the mobile robot, the ultrasonic or laser ranging sensor is used to detect the surrounding environment information of the robot, and the robot can be positioned by matching according to the pre-drawn map. The accuracy of this positioning depends on the accuracy of the sensor, and it is a widely used positioning method. However, this positioning method still has problems in some cases. When the surrounding environment changes drastically, this positioning method that depends on the environmental position will no longer be applicable; when the environmental position information in ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C11/00G01C11/04
Inventor 王宏杨昉
Owner TSINGHUA UNIV
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