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Abstract: To overcome the shortcomings of existing robot localization sensors, such as low accuracy and poor robustness, a high precision visual localization system based on infrared-reflective artificial markers is designed and illustrated in detail in this paper. First, the hardware system of the localization sensor is developed. Secondly, we design a novel kind of infrared-reflective artificial marker whose characteristics can be extracted by the acquisition and processing of the infrared image. In addition, a confidence calculation method for marker identification is proposed to obtain the probabilistic localization results. Finally, the autonomous localization of the robot is achieved by calculating the relative pose relation between the robot and the artificial marker based on the perspective-3-point (P3P) visual localization algorithm. Numerous experiments and practical applications show that the designed localization sensor system is immune to the interferences of the illumination and observation angle changes. The precision of the sensor is ±1.94 cm for position localization and ±1.64° for angle localization. Therefore, it satisfies perfectly the requirements of localization precision for an indoor mobile robot.

For autonomous indoor service robots, an embedded visual localization sensor is designed and a dot-matrix infrared-reflective artificial marker is given. Based on the statistical analysis of grey values of the marker dots, this paper provides a calculation method for marker identification. Experimental results show the effectiveness of the visual localization sensor system. The work sounds good.

一种室内移动机器人高精度视觉定位传感器及其工作原理

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