| 基于颜色特征的漂浮机器人三点定位系统 |
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| 引用本文： | 薛慧婷,罗熊,胡海东,游美玲,邱新涛.基于颜色特征的漂浮机器人三点定位系统[J].东南大学学报(自然科学版),2009(Z1). |
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| 作者姓名： | 薛慧婷 罗熊 胡海东 游美玲 邱新涛 |
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| 作者单位： | 北京科技大学信息工程学院;北京理工大学计算机学院; |
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| 基金项目： | 国家自然科学基金资助项目(60604010,90716021,60773073); 空间智能控制技术国家级重点实验室基金项目(SIC07010202) |
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| 摘 要： | 针对现有机器人全局相对定位方法的局限性,研究和提出了一种带有颜色特征的漂浮机器人定位算法.首先,在机器人表面标定3个红色标记点,利用CCD摄像机和图像采集卡采集全局视图,并将采集到的视图用HSI模型描述,从而增强颜色特征的鲁棒性,减少光照等外界因素的影响.然后,通过对HSI模型图像全局扫描、滤波和除噪,确定机器人表面3个标记点的位置,再根据三点定位法找出机器人在图像中具体的像素位置和像素姿态.最后,按照微分坐标转换法,根据已知的机器人像素位置和像素姿态数据,求得其在工作台上的实际位置和姿态,以达到精确定位的目的.与同类方法相比,该方法可以显著提高算法的效率和精度.
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| 关 键 词： | 颜色特征 漂浮机器人 三点定位 姿态 |
Three-point location system for floating robots based on color characteristics |
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| Xue Huiting Luo Xiong Hu Haidong You Meiling Qiu Xintao.Three-point location system for floating robots based on color characteristics[J].Journal of Southeast University(Natural Science Edition),2009(Z1). |
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| Authors: | Xue Huiting Luo Xiong Hu Haidong You Meiling Qiu Xintao |
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| Institution: | Xue Huiting1 Luo Xiong1 Hu Haidong2 You Meiling1 Qiu Xintao1(1 School of Information Engineering,University of Science , Technology Beijing,Beijing 100083,China)(2 School of Computer,Beijing Institute of Technology,Beijing 100081,China) |
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| Abstract: | In order to overcome the limitation of the global locating method for robots,a locating approach for a floating robot with the color characteristics is presented.Firstly,three-point red markers are tagged on the surface of the robot.The sample images collected by a charge-coupled device(CCD) camera and a image acquisition card in common red-green-blue(RGB) format are converted to ones in hue-saturation-intensity(HSI) format,which can enhance the robustness of the color feature and reduce the effect of light... |
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| Keywords: | color characteristics floating robot three-point location orientation |
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