Optical Navigation System for Robotics Application
Optical Navigation System for Robotics Application
复制标题
机器人应用光学导航系统
DOI：
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发表时间：
2012
期刊：
影响因子：
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通讯作者：
Vanchhit Khare
中科院分区：
文献类型：
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作者：
Deepak Solanki;Vanchhit Khare
机器人经常发现自己在问这个问题。知道你的位置？？对于自主机器人来说，能够导航到其他位置是极其重要的。根据地图找到自己的位置的行为称为定位。那么，机器人如何定位自己呢？智能定位和导航最常见的形式是使用地图，结合传感器读数和某种形式的闭环运动反馈。但机器人需要做的远不止是自我定位。通常，我们希望我们的机器人能够构建自己的地图，因为手动构建地图是乏味、乏味的，而且容易出错。研究定位和测绘的机器人领域通常被称为SLAM(同时定位和测绘)[1]。20多年来，全球的机器人专家一直在努力寻找本地化的解决方案；然而，只是在过去的4-5年里，我们才看到了一些有希望的结果。在这项工作中，我们描述了一种首创的突破性姿势定位技术，它只需要一个低成本的摄像头和一个强大的基于ARM的微控制器。由于其低成本和在现实环境中的强大性能，该技术特别适合用于消费和商业应用。
Frequently, robots find themselves asking this question. Knowing your location?? And being able to navigate to other locations is extremely important for autonomous robots. The act of finding one's location against a map is known as localization. So how can a robot localize itself? The most common form of intelligent localization and navigation is to use a map, combined with sensor readings and some form of closed-loop motion feedback. But a robot needs to do so much more than just localizing itself. Often, we'd like our robots to be able to build their own maps, since map building by hand is tedious, boring, and error-prone. The field of robotics that studies localization and mapping is typically called SLAM (simultaneous localization and mapping) [1]. Robot cists around the globe have been working to find a solution to localization for more than 20 years; however, only in the past 4-5 years we have seen some promising results. In this work, we describe a first-of-a-kind, breakthrough technology for pose finding for localization that requires only one low-cost camera and a powerful ARM based micro-controller. Because of its low-cost and robust performance in realistic environments, this technology is particularly well-suited for use in consumer and commercial applications.