基于平面投影的单目视觉AGV定位算法

摘要

视觉定位是AGV视觉导航研究领域的重要问题,目前,视觉定位方法主要是通过对摄像机进行标定求取相机内外参数,过程复杂,计算量大.文中针对移动机器人AGV提出一种基于平面投影原理的单目视觉定位方法,建立了摄像机投影模型,由一个参考平面连接图像平面与现实平面,应用平面投影原理求解像素点与空间点的映射关系.实验结果表明,该方法可靠性强,计算简单,且具有较好的定位精度,可以满足AGV的定位系统要求.%Visual positioning is an important topic in AGV vision navigation research. Commonly, visual positioning is done by determining intrinsic and extrinsic parameters of camera through camera calibration, a method which is very complicated and requires great computational efforts. The paper proposes a monocular visual positioning method based on plane projection principle to improve efficiency of mobile robot AGV. A camera projection model is established with image plane and actual plane connected by a reference plane. Mapping relationship between pixel points and space points is obtained with plane projection principle. The experiment shows that the method is reliable, simple and highly accurate in positioning, thus proving that the method is satisfactory for AGV positioning system.