Design And Research Of Indoor Positioning System Based On Machine Vision

With the progress of social science and technology and the continuous improvement of people's living standards,more and more service-oriented indoor robots appear in all walks of life.Indoor robot positioning technology based on machine vision has become a hot research topic.Based on the vision of indoor positioning technology is through the camera coordinates and world coordinates to determine the location of the label to achieve positioning purposes.Because there is an error when converting to the world coordinate with the machine coordinate,it is easy to cause huge error to the positioning result,so that the positioning is inaccurate.In response to this problem,a new vision-based indoor positioning system is studied.First of all,an infrared tag is designed to increase the range of motion of the robot from two aspects of tag coding design and circuit design.The label coding is simple,easy to identify the machine to meet the larger space of indoor positioning.Then,a indoor positioning method based on machine vision is designed.The positioning method is to capture the label image through the camera and then pre-process and identify the target image.When the target image offset image preset value collected by the camera is offset,It is necessary to track the target.When the target is tracked,the angle sensor records the rotation angle of the motor,and the AAE method locates the robot's current position so as to realize the robot positioning.This positioning method involves target recognition,target tracking,positioning calculation of three parts.The positioning system uses an improved random hough transform algorithm to identify the infrared target.The tracking system model needs to be established before the target tracking.The POS method is used to identify the model and determine the model parameters so as to achieve better control effect.Finally,the visual positioning system is designed and implemented,including positioning platform,hardware selection,hardware circuit design and software design.Then on this platform,static and dynamic testing of the positioning system was conducted to analyze the positioning error and system feasibility.