移动机器人车载摄像机位姿的高精度快速求解

doi:10.6040/j.issn.1671-9352.0.2014.444

山东大学学报（理学版） ›› 2015, Vol. 50 ›› Issue (03): 32-39.doi: 10.6040/j.issn.1671-9352.0.2014.444

移动机器人车载摄像机位姿的高精度快速求解

唐庆顺¹, 吴春富¹, 李国栋¹, 王小龙¹, 周风余²

1. 龙岩学院物理与机电工程学院, 福建龙岩 364012;
2. 山东大学控制科学与工程学院, 山东济南 250061

收稿日期:2014-10-09 修回日期:2015-01-16 出版日期:2015-03-20 发布日期:2015-03-13
通讯作者: 周风余(1969- ),男,博士,教授,研究方向为智能机器人、智能控制方法等.E-mail:zhoufengyu@sdu.edu.cn E-mail:zhoufengyu@sdu.edu.cn
作者简介:唐庆顺(1965- ),男,副教授,研究方向为智能机器人、机电一体化和机器视觉.E-mail:qingshun951128@163.com
基金资助:
国家自然科学基金资助项目(61375084);福建省教育厅科技项目(JK2014049)

An accurate and fast pose estimation algorithm foron-board camera of mobile robot

TANG Qing-shun¹, WU Chun-fu¹, LI Guo-dong¹, WANG Xiao-long¹, ZHOU Feng-yu²

1. School of Physics and Mechanical and Electrical Engineering, Longyan College, Longyan 364012, Fujian, China;
2. School of Control Science and Engineering, Shandong University, Jinan 250061, Shandong, China

Received:2014-10-09 Revised:2015-01-16 Online:2015-03-20 Published:2015-03-13

摘要/Abstract

摘要： 在分析移动机器人车载摄像机位姿的特殊性质的基础上,根据摄像机的等效转轴构造辅助旋转矩阵,利用该旋转矩阵将原始待分解本质矩阵和单应矩阵转换为一类简单的、可通过初等数学运算进行分解的本质矩阵和单应矩阵。仿真实验的结果表明,该车载摄像机位姿估计算法较传统方法具有更高的精度和更快的运算速度,对摄像机等效转轴的扰动也具有很好的鲁棒性。此外,分解出的可能解的数目较传统算法减少了一半,且在除诱导单应阵的空间景物平面与地面垂直的情况下,均能直接得到移动机器人的唯一转角,为移动机器人姿态控制提供了极大的便利。

关键词: 移动机器人, 位姿估计, 单应矩阵分解, 车载摄像机, 本质矩阵分解

Abstract: An accurate and fast pose estimation problem for on-board camera of mobile robot is investigated. Firstly the special properties of the pose for on-board camera of mobile robot are analyzed. Secondly, an auxiliary rotation matrix is constructed using the on-board camera's equivalent rotation axis, which is utilized to turn the initial essential matrix and homography matrix into a simplified kind that can be decomposed through elementary mathematical operations. Finally, some simulation experiments are designed to verify the algorithm's rapidity, accuracy and robustness. The experimental results show that compared to traditional algorithms, the proposed algorithm can acquire higher accuracy and faster calculating speed, together with the robustness to the disturbance of the on-board camera's equivalent rotation axis. In addition, the number of possible solutions are reduced one half, and the unique rotation angle of the mobile robot can be determined except for the condition that the 3D planar scene structure and the ground are perpendicular, which can provide great convenience for controlling the pose of the mobile robot.

Key words: pose estimation, homography matrix decomposition, on-board camera, essential matrix decomposition, mobile robot

中图分类号:

TP24.2

唐庆顺, 吴春富, 李国栋, 王小龙, 周风余. 移动机器人车载摄像机位姿的高精度快速求解[J]. 山东大学学报（理学版）, 2015, 50(03): 32-39.

TANG Qing-shun, WU Chun-fu, LI Guo-dong, WANG Xiao-long, ZHOU Feng-yu. An accurate and fast pose estimation algorithm foron-board camera of mobile robot[J]. JOURNAL OF SHANDONG UNIVERSITY(NATURAL SCIENCE), 2015, 50(03): 32-39.

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移动机器人车载摄像机位姿的高精度快速求解

An accurate and fast pose estimation algorithm foron-board camera of mobile robot

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