[1]蒲兴成,谭少峰,张毅.基于改进FAST算法的移动机器人导航[J].智能系统学报,2014,9(4):419-424.[doi:10.3969/j.issn.1673-4785.201305076]
　PU Xingcheng,TAN Shaofeng,ZHANG Yi.Research on the navigation of mobile robots based on the improved FAST algorithm[J].CAAI Transactions on Intelligent Systems,2014,9(4):419-424.[doi:10.3969/j.issn.1673-4785.201305076]
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基于改进FAST算法的移动机器人导航

《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷: 9 期数: 2014年第4期 页码: 419-424 栏目: 学术论文—智能系统 出版日期: 2014-08-25
Title:
Research on the navigation of mobile robots based on the improved FAST algorithm
作者:
蒲兴成1, 谭少峰2, 张毅2
1. 重庆邮电大学 数理学院, 重庆 400065;
2. 重庆邮电大学 自动化学院, 重庆 400065
Author(s):
PU Xingcheng1, TAN Shaofeng2, ZHANG Yi2
1. Mathematics and Physics College, Chongqing University of Posts and Telecommunications, Chongqing 400065, China;
2. Automation College, Chongqing University of Posts and Telecommunications, Chongqing 400065, China
关键词:
移动机器人; 单目视觉; FAST算法; 扩展卡尔曼滤波; RANSAC算法; 机器人导航; 鲁棒性
Keywords:
mobile robot; monocular vision; FAST algorithm; extended Kalman filter; RANSAC algorithm; robot navigation; robustness
分类号:
TP24
DOI:
10.3969/j.issn.1673-4785.201305076
摘要:
针对移动机器人在单目视觉导航方面实时性与鲁棒性较差的问题, 提出一种基于FAST算法和一点RANSAC算法的移动机器人导航新方法, 该方法主要由3个步骤组成:首先, 机器人通过自身摄像头采用改进FAST角点提取算法采集周围的环境信息;其次, 在匹配过程中采用结合扩展卡尔曼滤波的一点RANSAC算法进行误匹配剔除;最后, 用得到的匹配点进行三维环境重建和地图创建。实验结果表明, 改进方法能有效提高移动机器人定位与导航的实时性与鲁棒性。
Abstract:
In order to solve the problem of poor real-time performance and weak robustness of mobile robots during monocular vision navigation, a new improved navigational algorithm is put forward on the basis of the FAST algorithm and the one point RANSAC algorithm for mobile robots. This improved new algorithm is made up of three main steps. Firstly, the mobile robots use the FAST algorithm to collect the information by camera. Secondly,in the process of matching, we use the improved RANSAC algorithm to reject the mismatching. Finally, a 3-D map of the environment is built. Experiments show that this method can improve the real-time performance and robustness effectively regarding the aspects of positioning and navigation of the mobile robots.
参考文献/References:
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备注/Memo

收稿日期:2013-05-08。
基金项目:国家自然科学基金资助项目(51075420);重庆市教委科学技术研究资助项目(KJ100516;KJ1400432)
作者简介:谭少峰,男,1988年生,硕士研究生,主要研究方向为机器视觉、移动机器人导航。
通讯作者:蒲兴成,男,1973年生,副教授,博士,主要研究方向为非线性控制、随机系统和智能控制等。主持和参与省部级基金项目8项,发表学术论文40余篇,出版学术专著1部、教材1部。E-mail:puxingcheng@sina.com

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