Journal of Guangdong University of Technology ›› 2020, Vol. 37 ›› Issue (05): 31-37.doi: 10.12052/gdutxb.190143

Previous Articles     Next Articles

An Indoor Positioning Method of Monocular Vision Robot Based on Floor Features

Jie Yun-fei, Everett Wang, Zhong You-dong, Zhi Kai-xuan, Xiong Chao-wei   

  1. School of Information Engineering, Guangdong University of Technology, Guangzhou 510006, China
  • Received:2019-11-20 Online:2020-09-17 Published:2020-09-17

HTML

PDF (PC)

2773

Abstract: In order to solve the problem of high cost in high-precision robot indoor positioning method, an indoor positioning method based on ground features for monocular vision robot is proposed. This method collects the ground image through the monocular fisheye camera installed on the robot chassis, and after a series of image processing, the relationship between the ground grid straight line and the pose of the camera is used as the observational measurements, then the position information of the robot is obtained by deriving the observation equation and the extended Kalman filter algorithm. Based on the current time position data of the robot and the fixed square size of the ground, a line prediction algorithm is proposed to effectively eliminate the influence of the interference line segment. The experimental results show that the positioning accuracy of the robot indoor positioning method can reach 2 cm, which has good robustness and also can provide a good technical reference for low-cost robot indoor positioning.

Key words: robot indoor positioning, square line, Kalman filtering, image processing, line prediction

CLC Number: 

  • TP242
[1] 宋凯楠, 王彪, 唐超颖. 基于激光测距扫描的室内定位方法研究[J]. 激光与红外, 2016, 46(8): 938-942
SONG K N, WANG B, TANG C Y. Research on indoor localization method based on laser ranging scanning [J]. Laser & Infrared, 2016, 46(8): 938-942
[2] HESS W, KOHLER D, RAPP H, et al. Real time loop closure in 2D LIDAR SLAM[C]//2016 IEEE International Conference on Robotics and Auto- mation (ICRA), Computer Science. Stockholm: IEEE, 2016: 1271-1278.
[3] MICUSIK B, WILDENAUER H. Descriptor free visual indoor localization with line segments[C]// 2015 IEEE Conference on Computer Vision and Pattern Recognition (CVPR), Boston. MA: IEEE, 2015: 3165-3173.
[4] 董星亮, 苑晶, 张雪波, 等. 室内环境下基于图像序列拓扑关系的移动机器人全局定位[J]. 机器人, 2019, 41(1): 83-94
DONG X L, YUAN J, ZHANG X B, et al. Mobile robot global localization based on topological relationship between image sequences in indoor environments [J]. ROBOT, 2019, 41(1): 83-94
[5] 常津铭, 王红蕾. 室内定位系统中位置指纹库滤波算法研究[J]. 现代电子技术, 2019, 42(17): 10-13
CHANG J M, WANG H L. Research on location fingerprint database filtering algorithm in indoor location system [J]. Modern Electronic Technique, 2019, 42(17): 10-13
[6] 杨保, 张鹏飞, 李军杰, 等. 一种基于蓝牙的室内定位导航技术[J]. 测绘科学, 2019, 44(6): 89-95
YANG B, ZHANG P F, LI J J, et al. An indoor positioning and navigation technology based on bluetooth [J]. Science of Surveying and Mapping, 2019, 44(6): 89-95
[7] SŁAWOMIR R, AMBROZIAK L, ZDZISŁAW G, et al. Real time localization system with extended Kalman filter for indoor applications[C]//2016 21st International Conference on Methods and Models in Automation and Robotics (MMAR), Robotics. Miedzyzdroje: IEEE, 2016: 42-47.
[8] 郑亮, 陶乾. 鱼眼镜头自标定和畸变校正的实现[J]. 计算机工程, 2016, 42(9): 252-256
ZHENG L, TAO Q. Implementation of self-calibration and distortion correction [J]. Computer Engineering, 2016, 42(9): 252-256
[9] XIAO F, WU Z, HUANG Z D, et al. Indoor robot visual positioning system based on floor features[C]//2018 3rd International Conference on Robotics and Automation Engineering (ICRAE), Mobile Robots and Autonomous Systems. Guangzhou: IEEE, 2018: 97-101.
[10] MARTIN A, FISCHLER, BOLLES, et al. Random sample consensus: a paradigm for model fitting with applications to image analysis and automat cartography [J]. Communications of the ACM, 1981, 24: 381-395
[11] PETKOVIĆ T, LONČARIĆ S. Using gradient orientation to improve least squares line fitting[C]//2014 Canadian Conference on Computer and Robot Vision (CRV), Real-time Sensing and Control. Montreal: IEEE, 2014: 226-231.
[12] 张艳莉. 基于最小二乘法拟合直线的研究[J]. 信息通信, 2014(11): 44-45
ZHANG Y L. Research on fitting lines based on least squares method [J]. Information & Communications, 2014(11): 44-45
[13] VENTOSA S, SIMON C, SCHIMMEL M, et al. The S-Transform from a wavelet point of view [J]. IEEE Transactions on Signal Processing, 2008, 56(7): 2771-2780
[14] 马凌, 蒋外文, 张肖霞. 基于改进扩展卡尔曼滤波的单站无源定位算法[J]. 计算机工程与应用, 2016, 52(10): 124-127
MA L, JIANG W W, ZHANG X X. Single Passive location algorithm based on improved extended Kalman filter [J]. Computer Engineering and Applications, 2016, 52(10): 124-127
[15] 马晓东, 曾碧, 叶林锋. 基于BA的改进视觉/惯性融合定位算法[J]. 广东工业大学学报, 2017, 34(6): 32-36
MA X D, ZENG B, YE L F. An improved visual Odometry/SINS integrated localization algorithm based on BA [J]. Journal of Guangdong University of Technology, 2017, 34(6): 32-36
[16] 郭佩珍, 胡刚, 傅惠. 基于随机时间的车辆导航路径规划研究[J]. 广东工业大学学报, 2012, 29(1): 35-38
GUO P Z, HU G, FU H. Research on path planning with random time for vehicle navigation [J]. Journal of Guangdong University of Technology, 2012, 29(1): 35-38
[1] Zou Heng, Gao Jun-li, Zhang Shu-wen, Song Hai-tao. Design and Implementation of a Dropping Guidance Device for Go Robot [J]. Journal of Guangdong University of Technology, 2023, 40(01): 77-82,91.
[2] Liu Xin-hong, Su Cheng-yue, Chen Jing, Xu Sheng, Luo Wen-jun, Li Yi-hong, Liu Ba. Real Time Detection of High Resolution Bridge Crack Image [J]. Journal of Guangdong University of Technology, 2022, 39(06): 73-79.
[3] Qiu Zhan-chun, Fei Lun-ke, Teng Shao-hua, Zhang Wei. Palmprint Recognition Based on Cosine Similarity [J]. Journal of Guangdong University of Technology, 2022, 39(03): 55-62.
[4] ZHANG Jun-Long, LIU Li-Cheng, HU Rui. The Carrier Frequency Offset Estimation Algorithm for the OFDM System over the Timevarying Multipath Channel [J]. Journal of Guangdong University of Technology, 2014, 31(1): 59-64.
[5] ZOU Qing-Sheng, WANG Ren-Huang, MING Jun-Feng. Design of Multi-parameter Classifying System in Ceramic Tiles Based on M achine Vision [J]. Journal of Guangdong University of Technology, 2010, 27(4): 46-49.
[6] YUAN Xi-xia,YUE Jian-hua,ZHAO Xian-ren. Application of MATLAB in Improved Median Filtering [J]. Journal of Guangdong University of Technology, 2007, 24(1): 33-35.
[7] XUE Lan-yan,ZHENG Sheng-lin,PAN Bao-chang,CHEN Xiao-feng . A Thresholding Method for Grey Image Segmentation Based on Neural Network [J]. Journal of Guangdong University of Technology, 2005, 22(4): 67-72.
[8] DONG Fen-qiang, YU Yu-mian, LIU Chun-ying, ZHANG Jun-hao . Application of Kalman Filtering Method in HPLC for Xylene Isomer [J]. Journal of Guangdong University of Technology, 2004, 21(2): 25-27.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
No Suggested Reading articles found!
Copyright © 2017 Journal of Guangdong University of Technology
Add：729 East Dongfeng RD., Guangzhou PRC. Postcode: 510090
Tel：020-37626653,020-37626139,020-37626396
Email：xbzrb@gdut.edu.cn
Supported:Beijing Magtech