温熙,郭杭

• 1:南昌大学

摘要(Abstract)：

针对室内机器人移动导航定位存在的问题,该文研究了基于Kinect传感器的定位算法。该方法应用Kinect传感器采集了移动机器人运动过程中连续帧的彩色和深度信息;通过尺度不变特征变换算法匹配连续场景图像中的特征点对,经随机抽样一致性算法剔除点集中的误匹配点;利用Kinect的深度信息将可用点集的二维坐标转换到相机坐标系下的三维坐标;并使用绝对定向算法计算机器人在相邻位置上的姿态信息和平移量,从而提高了机器人的移动参数的计算精度。通过实验验证了该方法的可行性,且能够满足实时要求,可以同时进行定位与地图创建。

关键词(KeyWords)： 室内机器人;Kinect传感器;自定位;路径估计

Abstract:

Keywords:

基金项目(Foundation): 国家自然科学基金项目(41164001,41374039);; 江西省研究生创新专项资金资助项目(YC2014-S067)

作者(Author): 温熙,郭杭

DOI: 10.16251/j.cnki.1009-2307.2016.06.021

参考文献(References)：

• [1]SHARP I,YU K.Sensor-based dead-reckoning for indoor positioning[J].Physical Communication,2014,13(12):4-16.
• [2]刘晶晶,王建中,宋遒志,等.基于主动信标和航位推测法的多机器人位置最优估计[J].北京理工大学学报,2006,26(7):619-621.
• [3]MARTN A,ADN A.3D real-time positioning for autonomous navigation using a nine-point landmark[J].Pattern Recognition,2012,45(1):578-595.
• [4]郑宏,王景川,陈卫东.基于地图的移动机器人自定位与导航系统[J].机器人,2007,29(4):398-402.
• [5]VELASCO-VILLA M,ARANDA-BRICAIRE E,RODRGUEZ-CORTS H,et al.Trajectory tracking for a wheeled mobile robot using a vision based positioning system and an attitude observer[J].European Journal of Control,2012,18(4):348-355.
• [6]JIANG W,MA H,CHEN Y.Gradient based fast mode decision algorithm for intra prediction in HEVC[C]//Proceedings of the 2nd International Conference on Consumer Electronics Communications and Networks.Piscataway:IEEE Press,2012:1836-1840.
• [7]YAN S,HONG L,HE W,et al.Group-based fast mode decision algorithm for intra prediction in HEVC[C]//Proceedings of the Eighth International Conference on Signal Image Technology and Internet Based Systems.Piscataway:IEEE Press,2012:225-229.
• [8]CUNHA J,PEDROSA E,CRUZ C.Using a depth camera for indoor robot localization and navigation[Z/OL].[2011-12-10].http://www.cs.washington.edu/ai/Mobile-Robotics/rgbd-workshop-2011/Cameraready/cunha-rgbd11-localization.pdf.
• [9]UM D,RYU D,KAL M,et al.Multiple intensity differentiation for 3-D surface reconstruction with monovision infrared proximity array sensor[J].IEEE Sensors Journal,2011,11(12):3352-3358.
• [10]NOEL R R,SALEKIN A,ISLAM R.A natural user interface classroom based on Kinect[J].IEEE Learning Technology,2011,13(4):59-61.
• [11]STOWERS J,HAYES M,BAINBRIDGE-SMITH A.Altitude control of a quadrotor helicopter using depth map from Microsoft Kinect sensor[C]//IEEE International Conference on Mechatronics.Piscataway,NJ,USA:IEEE,2011:358-362.
• [12]郑南山,杨化超,张书毕,等.一种适合于数字近景影像的绝对定向方法[J].测绘科学,2008,33(5):112-115.
• [13]EGGERT D W,LORUSSO A,FISHER R B.Estimating 3-D rigid body transformations:a comparison of four major algorithms[J].Machine Vision&Applications,1997,9(5/6):272-290.
• [14]LOWE D G.Object recognition from local scale-invariant features[C]//IEEE International Conference on Computer Vision.Piscataway,NJ,USA:IEEE,1999:130-132.