Matching Method of Vertical Edge Patterns for Locating a Mobile Robot
Matching Method of Vertical Edge Patterns for Locating a Mobile Robot
复制标题
移动机器人定位垂直边缘图案匹配方法
DOI：
10.9746/sicetr1965.18.576
复制
发表时间：
1982
期刊：
影响因子：
--
通讯作者：
M. Ueda
中科院分区：
文献类型：
--
作者：
Tatsuya Nakamura;M. Ueda
本文提出了一种利用垂直边缘图案来估计测量点的快速且节省内存的方法。定位移动机器人在房间中的位置特别有用，因为在墙角和物体边缘可以观察到许多此类图案。它们是通过使用光学系统进行水平角度测量来检测的，该光学系统由电视摄像机和转动机构组成。匹配方法用于理解检测到的模式，其中假设一些边缘的位置已知。最可能的测量点是在不变量守恒下根据贝叶斯规则估计的，类似于本文推导的射影不变量。该方法是搜索已知边缘和检测到的边缘模式之间的最佳对应关系的过程。对于每个对应关系，可以使用解析方程来获得最可能的点。引入一些修剪规则来减少搜索工作并提高所获得答案的可靠性。它们是对两个边缘的视角、边缘之间的噪声图案的数量、概率值和估计位置的约束。实验结果证实了该方法的有效性。关键词: 机器人车辆、定位、边缘图案、匹配、场景分析 1. はじめに
This paper presents a fast and memory saving method to estimate a measuring point by making use of vertical edge patterns. It is especially useful to locate a mobile robot's position in a room where many those patterns are observed at corners of wall and edges of objects. They are detected with horizontal angle measurement using an optical system, which consists of a TV camera and a turning mechanism. A matching method is used to understand detected patterns, where positions of some edges are assumed to be known. The most probable measuring point is estimated from Baysian rule under the invariants conservation, similar to projective invariant, which is derived in this paper. This method is a searching process for an optimal correspondence between known edges and detected edge patterns. For each correspondence, it is possible to use analytical equations to obtain the most probable point. Some pruning rules are introduced to deduce searching efforts and to improve reliability of the answer obtained. They are constraints on visual angles of two edges, the number of noise patterns between edges, probability value and estimated position. An experimental result is shown to confirm effectiveness of this method. Keyword: robot vehicle, positioning, edge pattern, matching, scene analysis 1. は じ め に