###
:2019,28(7):228-233
本文二维码信息
码上扫一扫!
双舵轮AGV视觉里程计的设计方法
(1.华中科技大学 能源与动力工程学院, 武汉 430074;2.广东省智能机器人研究院, 东莞 523000;3.华中科技大学 机械科学与工程学院, 武汉 430074)
Design Method of Visual Odometry on Dual Steering Wheel AGV
(1.School of Energy and Power Engineering, Huazhong University of Science and Technology, Wuhan 430074, China;2.Guangdong Intelligent Robotics Institute, Dongguan 523000, China;3.School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China)
摘要
图/表
参考文献
相似文献
本文已被:浏览 180次   下载 191
投稿时间:2018-12-24    修订日期:2019-01-18
中文摘要: 针对双舵轮AGV在地面崎岖不平和轮胎打滑的情况下编码器失效的问题.本文提出一种使用价格低廉的RGB-D相机做视觉里程计的方案,避免了双舵轮AGV直接运动学建模导致里程计航迹推算累积误差过大的问题.本文采用ORB算子对图像进行特征提取和匹配,使用ICP的方法进行位姿估计.然后在Linux+ROS平台下搭建视觉里程计,并且和激光雷达数据融合,通过粒子滤波算法进行定位.最后,分别在不同环境下对比了编码器和视觉里程计的定位效果,并验证了整个系统的鲁棒性.
Abstract:Aiming at the problem of encoder failure of dual rudder wheel AGV under rough road conditions, a scheme of using low-cost RGB-D camera as visual odometer is proposed. This method can avoid the direct kinematics modeling of dual rudder wheel AGV and solve the problem of excessive accumulated error in odometer track estimation. In this study, we use pinhole camera model to find the correspondence between spatial points and pixels firstly. Then the ORB operator is used to extract and match the image, after that the method of Iterative Closest Point(ICP) is used for pose estimation. A visual odometer is built on the platform of Linux + ROS, which is fused with lidar for localization using particle filter algorithm. The positioning effects of encoder and visual odometer are compared in different environments, and the robustness of the whole system is verified.
文章编号:     中图分类号:    文献标志码:
基金项目:国家自然科学基金(51675197)
引用文本:
梅瑞冬,张捷,李强,刘超,王书亭.双舵轮AGV视觉里程计的设计方法.计算机系统应用,2019,28(7):228-233
MEI Rui-Dong,ZHANG Jie,LI Qiang,LIU Chao,WANG Shu-Ting.Design Method of Visual Odometry on Dual Steering Wheel AGV.COMPUTER SYSTEMS APPLICATIONS,2019,28(7):228-233

用微信扫一扫

用微信扫一扫