Study On The Mobile Robot Self-positioning And Motion Control Based On Monocular Vision

In recent years,with the rapid development of science and technology and the advancement of positioning theory research,positioning technology has developed rapidly in the face of more and more urgent local positioning services.This development has made positioning technology a research hotspot in the era of mobile Internet,and gradually played a role in all walks of life.In particular,the development of computer technology and artificial intelligence has made computer vision positioning widely used in many fields such as robot visual navigation,military visual guidance,intelligent transportation,and museum intelligent display.Therefore,research on vision-based positioning technology is very important.This paper firstly summarizes the technology of self-positioning and motion control of mobile robot based on monocular vision,and analyzes the function design and implementation principle of each module in system implementation.Including: 1)The frame image processing function.It provides a data foundation for visual pose estimation,and improves the accuracy and optimization process by camera calibration to improve the calculation speed.2)The Realtime pose estimation based on point features.The study implements pose estimation based on 2D-3D registration to achieve the solution of determining position and attitude.3)Real-time motion estimation and control function,the motion control is realized by pose estimation combined with the objective function,and the error analysis is completed by using the Jaccard similarity coefficient.4)The function of remote terminal monitoring and control.Using wireless communication to transmit data information,it is convenient to realize remote offline terminal monitoring,abnormal warning and control intervention.Finally,through the test of each functional module and the physical experiment based on HBE-SmartCAR mobile robot,the practical effect of using mobile monocular vision to realize the positioning and motion control of mobile robot is analyzed.Through the actual running test of the mobile robot,the correctness of the technical route and the rationality of the application effect are verified,which provides a theoretical and technical basis for future engineering practice applications.