Peng Li, Yangyang Zhang. Global Localization for Indoor Mobile Robot Based on Binocular Vision[J]. Laser & Optoelectronics Progress, 2020, 57(4): 041503
- Laser & Optoelectronics Progress
- Vol. 57, Issue 4, 041503 (2020)
Fig. 1. Image feature matching of mobile robot. (a) Matching in near scene; (b) matching in far scene
Fig. 2. Installation status of calibration board in binocular vision
Fig. 3. Global localization principle of mobile robot based on binocular vision
Fig. 4. Motion area detection of mobile robot. (a) Original image; (b) processed result based on Gaussian mixture model; (c) processed result based on morphology; (d) minimum rectangle mark
Fig. 5. Corner detection of mobile robot area based on FAST
Fig. 6. Corner detection of calibration board
Fig. 7. Global localization experiment platform for indoor mobile robot based on binocular vision
Fig. 8. Global localization results along a square track
Fig. 9. Global localization error. (a) Localization error of 1st lap; (b) localization error of 2nd lap
Fig. 10. Global localization results along a circular track
Fig. 11. Global localization error
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Table 1. Calibration results of camera intrinsic parameters
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