The Research And Design Of Precise Vision Localization System

With the rapid development of computer vision in various fields,it has a comprehensive foreground of applications,Visual positioning technology has been widely used.Vision is equivalent to the robot's “eyes”,The research and design of visual positioning system is one of the key technology to realize the robot vision navigation.In this paper,we reserch the method of calculation of vision positioning system in view of the camera imaging principle,Then,the pixels that identified by the coplanar rectangle features and can also be applied to identify the coplanar double parallel lines feature as the recognition feature points are captured as input information.Finally the output precise physical position measurement results are obtained through image processing and calculating.The main purpose of this study is applied in robot vision navigation,it can eventually be able to realize real-time to determine their precise location by identifying the cooperation targets.At first,this paper adopts the system of monocular vision system,Monocular vision system is simple in structure,cheap price,accurate positioning compared with binocular vision system.At the end of this paper,we also adjust two monocular cameras after calibration.The main work accomplished in this paper includes the following aspects:(1)First of all,this paper introduced the hardware structures of the visual system from the camera selection,platform design,computer configuration.(2)Introduced the principle of camera imaging and the camera calibration,the choice of cooperative targets and identification of cooperative targets.Three kinds of target recognition method has been introduced in this paper,analyzing the deficiency of the circle target and checkerboard target,and used the Hamming code targets to improve the insufficient.(3)This paper builded the locating position calculating model through the camera imaging principle.introduceed a kind of precise algorithm principle based on coplanar rectangle features that are also suitable for coplanar double parallel lines,and the algorithm precision is analyzed.(4)This paper designed a complete test plan,considering the single degree of freedom,the measuring accuracy of multi degree of freedom coupling multiple cases,and precision test curve is given,came to the conclusion of the different situations.(5)A friendly human-computer interaction interface was designed,According to different application scenarios,Extend the operation interface,it made the system more easily used in engineering application.