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CLC number: TP242.6

On-line Access: 2016-04-05

Received: 2015-08-21

Revision Accepted: 2016-01-13

Crosschecked: 2016-03-09

Cited: 2

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Citations:  Bibtex RefMan EndNote GB/T7714


Xian-feng Yuan


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Frontiers of Information Technology & Electronic Engineering  2016 Vol.17 No.4 P.365-374


A high precision visual localization sensor and its working methodology for an indoor mobile robot

Author(s):  Feng-yu Zhou, Xian-feng Yuan, Yang Yang, Zhi-fei Jiang, Chen-lei Zhou

Affiliation(s):  School of Control Science and Engineering, Shandong University, Jinan 250061, China; more

Corresponding email(s):   zhoufengyu@sdu.edu.cn, yuanxianfeng_sdu@126.com

Key Words:  Mobile robot, Localization sensor, Visual localization, Infrared-reflective marker, Embedded system

Feng-yu Zhou, Xian-feng Yuan, Yang Yang, Zhi-fei Jiang, Chen-lei Zhou. A high precision visual localization sensor and its working methodology for an indoor mobile robot[J]. Frontiers of Information Technology & Electronic Engineering, 2016, 17(4): 365-374.

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author="Feng-yu Zhou, Xian-feng Yuan, Yang Yang, Zhi-fei Jiang, Chen-lei Zhou",
journal="Frontiers of Information Technology & Electronic Engineering",
publisher="Zhejiang University Press & Springer",

%0 Journal Article
%T A high precision visual localization sensor and its working methodology for an indoor mobile robot
%A Feng-yu Zhou
%A Xian-feng Yuan
%A Yang Yang
%A Zhi-fei Jiang
%A Chen-lei Zhou
%J Frontiers of Information Technology & Electronic Engineering
%V 17
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%@ 2095-9184
%D 2016
%I Zhejiang University Press & Springer
%DOI 10.1631/FITEE.1500272

T1 - A high precision visual localization sensor and its working methodology for an indoor mobile robot
A1 - Feng-yu Zhou
A1 - Xian-feng Yuan
A1 - Yang Yang
A1 - Zhi-fei Jiang
A1 - Chen-lei Zhou
J0 - Frontiers of Information Technology & Electronic Engineering
VL - 17
IS - 4
SP - 365
EP - 374
%@ 2095-9184
Y1 - 2016
PB - Zhejiang University Press & Springer
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DOI - 10.1631/FITEE.1500272

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.


结论:通过多组实验证明了所设计的机器人定位传感器受光线及视角影响小,位置定位精度为±1.94 cm,角度定位精度为±1.64°,满足了室内移动机器人的定位精度要求。


Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article


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