The Localization Research Of The Mobile Robot Based On The Panoramic Vision System

Autonomous mobile robot is one of the most important topics on robotics research in recent years, which widely used in many applications, such as intelligent human-robot interaction, service robot, space robot and automatic vehicle. In mobile robot applications, it is a fundamental and important requirement that the robot should be able to localize itself accurately within its operating environments. It is a challenging research topic in mobile robot which has attracted many researchers. This thesis focuses on the study of mobile robot localization. Under the above research background, this thesis has studied mobile robot's independent localization and mobile robot's mutual localization on the basis of the panoramic vision system.Firstly, the mobile robot's present situation and the trend of development are introduced. The structure and the image formation model of panoramic stereoscopic vision system are analyzed, and the panoramic stereoscopic vision image formation principle is discussed in detail.Secondly, the basic approaches of the color image processing are presented, which include the choice of color model, image preprocessing and target recognition method in image. The conversion between color model, as well as the conversion formulas between them are discussed in detail. Then, this thesis studies the triangle localization and the mutual localization of the mobile robot on the basis of the panoramic vision system, and the corresponding calculation formulas are inferred. A kind of improvement landmark is presented in this thesis, in order to reduce the influence of background environment to target. The reasons of the error are discussed in detail, as well as the solution process of position and direction angle of the mobile robot in the mutual localization.Finally, this thesis researches the map building of environment and the map expression methods of environment, analyses the map building process and the map building methods of environment of the mobile robot. The experimental result indicates that the localization methods of the mobile robot based on the panoramic vision system are satisfied, and the methods have certain value to practical application.