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Research on Environment Modeling and Navagation of Home Robot Based on Monocular Vision

Author: HeJunYao
Tutor: LuoSanDing
School: Central South University
Course: Applied Computer Technology
Keywords: Home robot Visual navigation SURF algorithm Environmental modeling
CLC: TP242
Type: Master's thesis
Year: 2009
Downloads: 219
Quote: 1
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Abstract


With the development of robot technology and mature , the robot system is gradually entering the field of family life , in recent years , become the focus of attention of the many home indoor robot . For home robot navigation is an important issue , which is the core technology of the robot intelligence . It is the main access to environmental information , the description and modeling of environmental information as well as automatic positioning composed , including the description and modeling of environmental information is the core content . In this paper, the development and application of mobile robot family as a background, the family robot based on monocular vision in autonomous navigation performance , environmental modeling conducted in-depth research , and feature an indoor environment . The topological mixing environment model . In this paper, two environment description method in order to create a feature - the topological mixing environment model : the environment based on the vertical edge feature description and a description of the environment based on local gray distribution features . Describe characteristics of the environment based on vertical edges using Sobel operator and non - maxima suppression algorithm for edge extraction and refinement to complete the vertical projection of the edge of the object using the projection curve analysis based on the ratio of the projected curve invariance vertical feature matching method , based on the matching method using a monocular vision method to calculate the vertical characteristics of the world coordinates , the vertical characteristics of the position in the world coordinate system to describe the environment . To describe the environment in detail the SURF feature extraction method of the description of the structure , match , natural landmark structure and identify experimental evaluation using SURF feature the environment description method based on local gray distribution features . Finally, the architecture of the home robot navigation system to analyze the role of each module , and the model - based home robot positioning , take a node positioning method of the HMM valuation identify nodes , connected at the edge of the use of the environment the vertical edge feature to locate, so to avoid the error of the odometer . The experiment proved that this method can improve the positioning accuracy of the node identification at the direction and the position of the connecting edges at positioning accuracy , and ensure the continuity of the entire positioning process , robustness , and real-time .

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