Design of a Ball-shaped Robot with Stereovision-based Localization

摘要

In view of the existing localization problems of ball-shaped robots,a ball-shaped robot BYQ-6b with stereovision-based localization is proposed.A binocular camera is used to capture real-time image sequences of the environment around the robot.Features are detected,matched between left and right images,and tracked in the image sequences.An egomotion algorithm is adopted to estimate the frame-to-frame incremental motion of the BYQ-6b robot,and finally the robot’s global pose is obtained.The ball-shaped robot BYQ-6b are presented in detail about its mechanical structure,its control system and the implementation of the proposed stereovision-based localization.The experimental results demonstrate the feasibility of the proposed system design and the stereovision-based localization.