自主式移动机器人定位坐标平滑算法研究

为了提高基于全局视觉导航的移动机器人的全局绝对定位精度，提出了一种适用于较大工作空间的摄像机参数分区标定方法，并借用数字图像中邻域的概念，定义了小区域的8—邻域关系，利用模糊数学的方法确定了中心区域及其邻域的权值函数，有效解决了各小区域边界的定位坐标平滑过渡问题。该平滑算法是一种计算模板，计算量不会因小区域的面积和小区域的个数的增加而增加，对于区域的内部和边缘计算一样有效。

Smooth Method for Orientation Coordinate of Autonomous Mobile Robot

In a vision based navigation system of autonomous mobile robot, it is very important to increase the absolute orientation precision. Because of the extension of the workspace of autonomous mobile robot and the using of only one group of camera calibration parameters, the orientation precision would decrease. In this paper, a new camera calibration method, camera zoned calibration method, is put forward. The whole workspace of autonomous mobile robot was divided into several parts and the camera was calibrated in each part. Then, the camera would have one group of parameters for each part. When an autonomous mobile robot moves in one zone, the group parameters of that zone will be used for orientation calculation. A smooth calculation method of orientation coordinate was also developed which was used for solving the transition problem of orientation coordinate between two zones. The experiments show that the camera zoned calibration method and the smooth method are uncomplicated and can increase the absolute orientation precision of autonomous mobile robot in vision based navigation system.