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Global vision positioning method and system for a small quadruped robot

A quadruped robot and visual positioning technology, used in radio wave measurement systems, instruments, image analysis, etc., can solve the problem of limited global visual observation range, and achieve the effects of simple structure, improved positioning accuracy, and enlarged effective range.

Active Publication Date: 2019-06-11
SHANDONG UNIV
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Problems solved by technology

[0005] In order to overcome the deficiencies in the prior art above, the present disclosure provides a global visual positioning method and system for a small quadruped robot, which expands the effective range of global visual positioning, improves the positioning accuracy in a large field of view environment, and solves the problem of global visual observation. limited range of issues

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  • Global vision positioning method and system for a small quadruped robot

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[0034] It should be noted that the following detailed description is exemplary and intended to provide further explanation of the present disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.

[0035] It should be noted that the terminology used herein is only for describing specific embodiments, and is not intended to limit the exemplary embodiments according to the present disclosure. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and / or combinations thereof.

[0036] One or more embodiments provide a global visual positioning method for a small quadruped robot, which acquires a large-s...

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Abstract

The invention discloses a global vision positioning method and system for a small quadruped robot, and the method comprises the following steps: calibrating a dual-camera system, and calculating the motion model parameters of the dual-camera system; obtaining a calibrated target area image shot by the fisheye camera; processing the image of the target area to obtain the position of a to-be-positioned target in a fisheye camera coordinate system, calculating the spatial position of the to-be-positioned target in a holder coordinate system through a double-camera system kinematics model, and carrying out two-degree-of-freedom kinematics inverse solution to obtain a two-degree-of-freedom joint rotation angle; obtaining a to-be-positioned target image, detecting a two-dimensional code in the to-be-positioned target image to obtain a two-dimensional coordinate of a two-dimensional code center point in the to-be-positioned image, and performing transformation to obtain a two-dimensional coordinate of the two-dimensional code center point in a ground coordinate system; and correcting the two-dimensional coordinates of the two-dimensional code center point in the ground coordinate system to obtain the position and orientation of the to-be-positioned target in the ground coordinate system.

Description

technical field [0001] The disclosure relates to a global vision positioning method and system for a small quadruped robot. Background technique [0002] Mobile robot is an important member of the robot family, and has important applications in military confrontation, agricultural work, industrial production, security inspection and other fields. The positioning and navigation of the mobile robot is the key technology to realize the intelligentization and autonomy of the robot, and it is the basis for the normal operation of the robot's own design function. To realize the autonomous navigation of the mobile robot, we must first solve the problem of positioning and attitude determination of the robot, that is, determine the position and orientation of the mobile robot. [0003] Among the positioning and attitude determination methods, visual positioning is widely used. The information obtained by visual positioning and navigation is rich, the application is flexible, the vi...

Claims

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Application Information

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IPC IPC(8): G06T7/80G06T7/73G06K7/14G01S11/12
Inventor 李贻斌张辰柴汇荣学文范永
Owner SHANDONG UNIV
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