Positioning Autonomous Mobile Robot Based on Measurements Onboard Digital Stereo Vision System

Abstract

The problem of local positioning of autonomous mobile robot acting on an unknown scene. The measuring instrument is analyzed on-board stereo vision system consisting of two collinear digital camcorders. The description of the measurement space of digital stereo vision, proposed a stochastic model of the measurement errors of point features scenes. The problem of optimizing the choice of reference for local positioning of autonomous mobile robot. A method for communication dynamics of movement of the mobile robot with the parameters of the digital system stereovision.