面向室外移动机器人的路标定位系统.pdfVIP

路标相结合的视觉系统。它通过近红外主动照明来降低光照变化、阴影 等因素对视觉系统的影响，利用全景视觉来获取大范围的路标信息，这 使系统能够适应室外大幅度光照变化和高噪声的影响。 其次，本文设计了一种鲁棒的近红外路标识别算法。算法在得到全 景近红外图像后，利用全景展开使图像以适合人类观看的视角再现周围 环境；接着用改进大津法配合动态大津法来实现二值化，以突出光照不 均情况下的路标特征；然后通过路标提取和模板匹配来实现路标识别， 为三角定位提供了精确的路标信息。 最后，在上述研究的基础上，本文通过多个实验验证了路标定位系 统的性能。实验表明，全景近红外视觉系统能有效的抑制室外光照变化 及阴影的影响，近红外路标识别算法在保证实时性的基础上能稳定的识 别出路标，在经过三角定位之后，整个系统具有良好的定位精度。 关键词：室外定位，路标识别，全景视觉，近红外，移动机器人 II LANDMARK LOCALIZATION SYSTEM FOR OUTDOOR MOBILE ROBOT ABSTRACT Autonomous mobile robot is an important field in research and application of robot. While its application area develops faster and faster, the robot is supposed to replace human being to work in the remote or adverse outdoor environment, such as electric substation and chemical plant which faces high temperature, tall radiate and strong interference. As the foundation of robot working in outdoor environment, localization becomes the first problem to solve. An outdoor localization system for mobile robot based on landmark recognition is presented. The system is robust under the changes of lighting conditions. The near infrared illuminator is used for reducing the interference of natural light and shadow. Omni-directional camera can capture images with a large view of environment. In the image processing, dynamic Otsu method and landmark tracking make the landmarks recognition run more accurate. It also improves the rate of system. The triangulation approach is then used for robots localization and navigation. The real-world and real-robot experiments demonstrate the systems III accuracy and robustness.