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首页> 外文期刊>Journal of Computers >A Robot Indoor Position and Orientation Method based on 2D Barcode Landmark
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A Robot Indoor Position and Orientation Method based on 2D Barcode Landmark

机译：基于2D条形码地标的机器人室内位置和方向方法

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摘要

—A method for robot indoor automatic positioning and orientating based on two-dimensional (2D) barcode landmark is proposed. By using the scheme of the 2D barcode for reference, a special landmark is designed which is convenient to operate and easy to recognize, contain coordinates of their absolute positions and have some ability to automatically correct errors. Landmarks are placed over the “ceiling” and photographed by a camera mounted on the robot with its optical axis vertical to the ceiling plane. The coordinates and angle of the landmark is acquired through image segmentation, contour extracting, characteristic curves matching and landmark properties identifying, and then the robot’s current absolute position and heading angle is computed. The experiments proved the effectiveness of the method and shows that the method can meet accuracy requirements of indoor position and orientation.
机译：- 提出了基于二维（2D）条形码地标的机器人室内自动定位和方向的方法。通过使用2D条形码的方案供参考，设计了一种特殊的地标，可以方便地操作且易于识别，包含其绝对位置的坐标，并具有自动纠正错误的能力。地标放置在“天花板”上，通过安装在机器人上的摄像机拍摄，其光轴垂直于天花板平面。通过图像分割，轮廓提取，特性曲线匹配和识别地标特性来获取地标的坐标和角度，并且计算机器人的当前绝对位置和标题角度。实验证明了该方法的有效性，并表明该方法可以满足室内位置和方向的精度要求。

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