Vision navigation algorithm for mine agent based on quaternion

摘要：

Autonomous relative navigation is the key technology in mining or rescuing. On the basis of mine requirement and the theories of machine vision, an autonomous relative navigation algorithm for mine agent based on quaternion was proposed. In rotation transformation, this algorithm was represented by using quaternion. Because the Jacobi matrix of this method is lower than that of Hall algorithm, the calculation efficiency is improved by using this algorithm. The results of these experiments show that the computation burden of this algorithm based on quaternion is about half that of Hall algorithm. This algorithm based on quaternion is improved as a valid way to solve the problem of mine real-time navigation.

关键词： quaternion mine agent vision navigation

作者: LI Ke-zhao LEI Wei-wei GUO Zeng-zhang WU Li-xin ZHANG Qin

作者单位: School of Survey and Land Information Engineering, Henan Polytechnic University, Jiaozuo 454003, Chi School of Survey and Land Information Engineering, Henan Polytechnic University, Jiaozuo 454003, Chi College of Resources and Civil Engineering, Northeastern University, Shenyang 110819, China College of Geology Engineering and Geomatics, Changan University, Xian 710054, China

会议类型: 国际会议

会议名称: 2011年国际矿山测量学术讨论会

会议地点: 河南焦作

会议语种:英文

页码: 610-615

在线出版日期: 2011-06-18（万方平台首次上网日期，不代表论文的发表时间）