Application of omni-vision in robot independent localization

摘要

A method based on the omni-vision was studied for the self-location of mobile robot.According to optical principle,the omni-vision sensor was designed.By using the omni-vision sensor,robot's panoramic image in working environment was obtained.With the aid of noise reduction,color threshold segmentation and center point computation and so on,the landmarks in the panoramic image were recognized.By using triangulation method,the robot's position was obtained,which was a good basis for the navigation and the collision of robot.Experimental results prove that the method is feasible for the self-location of mobile robot.