A Method of Slit Code Detection for the Position Measurement of a Robot Vehicle
A Method of Slit Code Detection for the Position Measurement of a Robot Vehicle
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一种用于机器人车辆位置测量的狭缝码检测方法
DOI：
10.9746/sicetr1965.17.492
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发表时间：
1981
期刊：
影响因子：
--
通讯作者：
Tatsuya Nakamura
中科院分区：
文献类型：
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作者：
Tatsuya Nakamura
机器人车辆的位置测量需要对图像进行实时处理。本文介绍了一种高精度、高速度地检测狭缝码人工图形的方法。狭缝码是通过排列狭缝使其中心线之间的间隔具有一定的长度来构造的。狭缝码的检测分两步进行。在第一步中，每个狭缝图案由有限自动机检测，该有限自动机输入在长度方向上的二值图像的采样数据。在第二步中，从狭缝图案计算四个相邻狭缝的中心线之间的视角的投影不变量。如果不变量值为零，则该图案被接受为狭缝码的子序列。否则，它们将被拒绝。该检测方法是在一个系统中实现的，该系统通过旋转潜望镜由电视摄像机扫描机器人的环境。实验表明，该方法具有较高的可靠性，即接受狭缝码，拒绝其它噪声狭缝码。此外，该系统使得有可能使用狭缝图案检测的方法来跟随狭缝代码的指定狭缝，而机器人正在移动。因此，获得视觉反馈。
It is required that a picture image is processed in realtime for the position measurement of a robot vehicle. This paper describes the method which detects artificial patterns of slit code with high precision and speed. Slit codes are constructed by arranging slits so that the intervals among their center lines are of definite lengths. Detection of a slit code is done in two steps. In the first step, each slit pattern is detected by a finite automaton which inputs sampled data of two-valued image in the direction of the length. In the second step, the projective invariant of the visual angles among center lines of four neighbouring slits is computed from the slit pattern. If the invariant value is zero, then the pattern is accepted as a subsequence of a slit code. Otherwise they are rejected. The detection method is implemented in a system which scans the robot's environment by a TV camera through a rotating periscope. The experiments show its high reliability, that is, it accepts slit codes and rejects other noise slit patterns. Also the system makes it possible to follow a specified slit of the slit code using the method of slit pattern detection, while the robot is moving. Thus visual feedback is attained.