使用快速視覺技術(shù)的拓?fù)鋵W(xué)移動機(jī)器人[外文翻譯]

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中文： 7196 字
英文： 22566 字符


摘要
在本文我們利用顏色直方圖匹配全向圖象，顯示一個拓?fù)鋵W(xué)移動機(jī)器人的系統(tǒng)。 此系統(tǒng)將來可用作自治車的一個航行工具，可以作為探險和航海的都市環(huán)境的移動機(jī)器人，我們的方法是利用機(jī)器人上的照相機(jī)獲取全向圖象。 這種方法是快速和自轉(zhuǎn)不變的。我們的測試表明正?；念伾狈綀D在一個室外環(huán)境是最佳，而在室內(nèi)工作不需要。系統(tǒng)在更大的測試環(huán)境之內(nèi)，迅速縮小機(jī)器人的地點到一兩個地區(qū)。 利用這些地方化的信息，我們已經(jīng)開發(fā)了的其它視覺系統(tǒng)可進(jìn)一步定位機(jī)器人。
1 介紹
在復(fù)雜環(huán)境里，一個移動機(jī)器人的地點的定位是一個有趣和重要問題。機(jī)器人的地方化可以在幾何上或拓?fù)鋵W(xué)上完成。 在本文，我們提出運(yùn)用對顏色直方圖的分析拓?fù)鋵W(xué)地方化的一個快速的方法，可用于幫助另一個視覺系統(tǒng)進(jìn)行精確幾何地方化。這個組合技術(shù)用于駕駛我們塑造機(jī)器人大道的自治站點 ......



Topological Mobile Robot Localization Using Fast Vision Techniques
Abstract
In this paper we present a system for topologically localizing a mobile robot using color histogram matching of omnidirectional images. The system is intended for use as a navigational tool for the Autonomous Vehicle for Exploration and Navigation of Urban Environments (AVENUE) mobile robot. Our method makes use of omnidirectional images which are acquired from the robot's on-board camera. The method is fast and rotation invariant. Our tests have indicated that normalized color histograms are best for an outdoor environment while normalization is not required for indoor work. The system quickly narrows down the robot's location to one or two regions within the much larger test environment. Using this regional localization information, other vision systems that we have developed can further localize the robot.
1 Introduction
The determination of a mobile robot's location in a complex environment is an interesting and important problem. Localization of the robot can be done geometrically or topologically. In this paper, we present a fast method of topological localization which utilizes the analysis of color histograms. Our method can then be used to help another vision system perform precise geometrical localization. This combination of techniques is used to navigate our autonomous site modeling robot ......