Research On Location Method Of Mobile Robot Based On Monocular Vision

With the development of computer technology and image processing technology, the vision sensor has the advantages of acquiring large information of the environment and large wide range of detection, monocular vision sensor has the advantages of simple and reliable structure, high performance-to-price ratio and small image distortion. Therefore, in this paper will study the indoor positioning technology of mobile robot based on monocular vision. The main research contents of this paper include image processing and recognition of designed markers, monocular vision localization and mobile robot control system design. The specific research contents are as follows:(1) Image processing and target recognition, the positioning of the visual sensor is based on image processing, in order to image processing pertinence,high efficiency and accuracy, in this topic design of two red spheres as target, In this paper designs the target recognition algorithm based on the designed target in this subject, which is based on the color feature, shape feature, size feature and spatial relative position feature of the marker, using image processing techniques such as Gaussian filtering and morphological analysis.(2) Based on monocular vision, First of all, establish the imaging model of the monocular camera. Find the relationship between the pixel plane coordinate system and the world coordinate system. Analyze the calibration method of the monocular camera, and calibrate the monocular camera, in the last, finish the localization model of monocular camera. According to the requirements and characteristics of this subject, in the paper will simplify the localization model and find the two-dimensional coordinates of the ground plane and the relationship between the image pixel coordinates. The algorithm program of this subject is will programmed to realize the indoor positioning of the monocular camera. And through experiments to verify the reliability and accuracy of the algorithm.(3) The design of mobile robot control system, in the paper the track vehicles is used as a mobile robot carrier, and analys mobile robot needs and control strategies. The control system includes hardware system and software systems. In the design of the hardware system, we will design by the function of mobile robots, completed the corresponding circuit schematic design and control circuit boards, In the software system design, combined with the needs of image processing and hardware control system needs to complete the PC interface design and lower computer embedded program development.