Velocity Measurement Research of Moving Object for Mobile Robot in Dynamic Environment

摘要

Moving object velocity measurement in real-time is necessary to achieve obstacle avoidance and navigation for mobile robot in dynamic environment. A velocity measurement method based on machine vision using Kinect camera is proposed. Firstly, a marker fixed on moving object is designed, which consisted five circles with certain position relation, and then the moving object marker position in Kinect coordinate system was precisely detected according to the topological relationship of object marker using image processing algorithm. Then, the coordinate in Kinect system was transformed to world coordinate system. Finally, the velocity information was calculated with the distance in certain sampling time. Theoretical analysis and experimental results show that this method can be used to measure the velocity of moving object in both linear motion, situ rotation and synthetic curvilinear motion form, no matter the mobile robot is in the motion or stationary situation. It has a wide application range with real-time computing and high accuracy.