检索结果-南通市图书馆

Visual-feature-assisted mobile robot localization in a long corridor environment

Frontiers of Information Technology & Electronic Engineering 2023年第6期24卷 876-889页

作者： Gengyu GE Yi ZHANG Wei WANG Lihe HU Yang WANG Qin JIANG School of Computer Science and Technology Chongqing University of Posts and TelecommunicationsChongqing 400065China School of Advanced Manufacturing Engineering Chongqing University of Posts and TelecommunicationsChongqing 400065China School of Information Engineering Zunyi Normal UniversityZunyi 563006China

Localization plays a vital role in the mobile robot navigation system and is a fundamental capability for autonomous *** an indoor environment,the current mainstream localization scheme uses two-dimensional(2D)laser light detection and ranging(LiDAR)to build an occupancy grid map with simultaneous localization and mapping(SLAM)technology;it then locates the robot based on the known grid ***,such solutions work effectively only in those areas with salient geometrical *** areas with repeated,symmetrical,or similar structures,such as a long corridor,the conventional particle filtering method will *** solve this crucial problem,this paper presents a novel coarse-to-fine paradigm that uses visual features to assist mobile robot localization in a long ***,the mobile robot is remote-controlled to move from the starting position to the end along a middle *** the moving process,a grid map is built using the laser-based SLAM *** the same time,a visual map consisting of special images which are keyframes is created according to a keyframe selection *** keyframes are associated with the robot’s poses through ***,a moving strategy is proposed,based on the extracted range features of the laser scans,to decide on an initial rough *** is vital for the mobile robot because it gives instructions on where the robot needs to move to adjust its ***,the mobile robot captures images in a proper perspective according to the moving strategy and matches them with the image map to achieve a coarse ***,an improved particle filtering method is presented to achieve fine *** results show that our method is effective and robust for global *** localization success rate reaches 98.8%while the average moving distance is only 0.31 *** addition,the method works well when the mobile robot is kidnapped to another position in the corridor.

关键词： Mobile robot Localization Simultaneous localization and mapping(SLAM) corridor environment Particle filter Visual features

来源：

维普期刊数据库

同方期刊数据库评论

在线全文

学校读者我要写书评

暂无评论

欢迎您,

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

在线全文

请选择保存的检索档案：

请选择收藏分类：

通借通还

欢迎您,

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

在线全文

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：