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Research on Vision Based Odometer for Indoor Mobile Robot

Author: LiWeiChao
Tutor: GaoYunFeng
School: Harbin Institute of Technology
Course: Mechanical and Electronic Engineering
Keywords: Indoor Mobile Robot Visual odometry SURF RANSAC Tilt correction
CLC: TP242.6
Type: Master's thesis
Year: 2011
Downloads: 56
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Abstract


Indoor mobile robot self-localization problem has always been a hot research paper based indoor mobile robot vision mileage meter, aims to make up for the lack of self-positioning traditional positioning sensors in the robot relative to the photoelectric encoder, etc. rely on this background research The positioning wheel laps advantages irrespective of wheel slip, relative to the laser sensor, and the advantages of the camera is a passive sensor, do not rely on the transmission signal and then receives the return signal to locate. In order to solve the problem of self-positioning, visual odometry thesis work is as follows: in order to get high accuracy and to reduce the influence of noise, choose the odometer works, to a reasonable choice of hardware parameters and algorithms the visual odometry indicators and determine the visual odometry hardware programs and software processes. Analysis and testing of the key algorithms SURF feature point extraction algorithm and nearest neighbor vector matching algorithm performance feature point extraction under various conditions, indoor robot odometer model analysis, put forward a reasonable image clipping algorithm, reducing the image processing time and improve the speed of the odometer. Select the camera model and adopt Zhang Zhengyou calibration method of internal and external parameters of the camera. Point frame buffer coordinate system conversion distortion correction to the camera coordinate system, in order to reduce the error caused by camera mounting tilt, the proposed camera tilt correction algorithms, and finally use the RANSAC algorithm to obtain the frame under the camera coordinate system Inter conversion matrix. Solving robot displacement at the the robots starting point coordinate system, design rotation experiments and panning experiments has been the starting point of the camera coordinate system to the robot starting point coordinate system transformation matrix, which reduces the installation requirements on the odometer, and improve the accuracy of the system . Offline experiments by controlling the robot to take the rectangular track, circumferential the translational trajectory and circular path, and the coordinates of the end point, mileage and attitude indicators to verify the accuracy of the mileage calculation method; design online experiment, by controlling the robot repeat go straight-line trajectory, rotational motion and circular path, and the coordinates of the end point, mileage and attitude indicators to verify the real-time and accuracy of the odometer. In this paper, the design of visual odometer reached a preliminary odometer work laid the foundation requirements, after in-depth study of the visual odometer.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot > Intelligent robots
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