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针对室内移动机器人定位问题,提出了基于直线检测的室内移动机器人视觉定位方法.该算法通过Canny算子对图像进行边缘检测,设计自适应霍夫变换检测边缘中的直线,对直线进行平移和旋转变换,求取视场中心点到直线的距离,使用证据推理判断视场中心点是否穿越直线,从而获得机器人的实时坐标.实验结果表明:该算法切实可行,实时性好,定位精度高,具有很强的鲁棒性,很好地解决了室内移动机器人的定位问题.
In order to solve the problem of indoor mobile robot positioning, a visual detection method based on line detection for indoor mobile robot is proposed. The algorithm detects the edge of the image by Canny operator, and designs adaptive Hough transform to detect the straight line in the edge, to translate and rotate the straight line Transform and find the distance from the center point of the field of view to the straight line, and use the evidence reasoning to judge whether the center point of the field traverses the straight line, so as to obtain the real-time coordinates of the robot.Experimental results show that the algorithm is feasible, real-time, Strong robustness, a good solution to the indoor mobile robot positioning problem.