| The research of mobile robot is an important embranchment of Robotics. At present, along with the continuous advancement of robot technology, the apply field of mobile robot has been more and more abroad, and it's main development aspect is all independence,that is navigation, avoiding barriers and orientation self-determinatively. And the premise is the development of robot vision techniques, so robot vision techniques has received considerable attention in robot fields.The main work and innovative ideas include:Firstly, the bodywork configuration and vision system of HEBUT-â…¡mobile robot are introduced.,and the hardware and software configuration of vision sestem are simply introduced. Secondly, the modeling of camera is set up. According to the perspective mapping principle of camera,inverse perspective mapping is getted by operating inverse transformation. At the basis of it, image processing techniques are stressed researched. In this system, the referring image processing mainly include image pretreatment, image segmentation, image registration.Finally, the configuration of vision navigation system is stressed researched, and the innovating point is put forword. A computation method is proposed for globle localization which utilizes information from both sonar and vision sensors. The method combines multimodal, robust Markov and unimodal, efficient extended Kalman filter (EKF) localization with significant improvements for global localization and position tracking. Sensor update is accomplished through results demonstrate the validity of the approach. |
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