A localization system for mobile robots based vision

摘要

Location is one of the key technologies in autonomous mobile robot navigation and it is the fundament of the route plan and avoidance obstacle of mobile robot. The paper is concerned with the problem of determining the position of the mobile robots by vision. A kind of infrared landmark was designed, the system software based on Visual C++6.0 and OpenCV was build, and a location system for mobile robots based vision and artificial landmark was developed. The infrared landmark image was acquired by vision sensor and its mass center in the image was recognized by the image process. By the triangulation method, the robot's position in the world coordinate system was obtained. The experimental results show that the method could be applied in the field of self-localization of mobile robot.