Research Of Location Method For Spherical Robot With Stereo Vision System

The spherical robot is a kind of robot that with drive system in the spherical shell and moving with inner driving. Relative to the other robot has the advantages of zero turning radiuses and hard to capsize, it has broad applications in military and civilian fields. Although the theory of spherical robot has a lot of progress, but it still has some discrepancy to actual application in many aspects, the main problem is the ball shape robot cannot finish the task of location and navigation well. Location is the basement of navigation, to full fill the task of navigation, this article do research on the problem of stereo location for ball spherical robot. This article proposed a stereo location method for spherical robot and designed location system to verify the feasibility of location method.Firstly, this paper briefly analyzes the research status of vision location technology and spherical robots at home and abroad, point out the existing problems. This article analyzes the key step of vision location, summaries the characteristic of stereo vision location through experiment and Provide the basis for the spherical robot vision localization method.Secondly, this article improves the vision location method for the platform of spherical robot is different from other moving robot. Feature matching was used to instead feature tracking, solve the problem that camera moving with the robot’s shelf cause tracking failed. Reduce time consumption by establishing matching constraint. Inertial measurement unit was used to improve the positioning results.Thirdly, improve vision location method by analyzes the encountered problems in practical application. Scene flow method was used to remove the outliner points, it allow vision location method of spherical robot can be applied in a variety of complex environments.Finally, the paper does some experiment about vision location method of spherical robot. Through analyzes the experiment result, it provides the processed method are validity and accuracy. Then summary the research result and prospects.