Localization of Mobile Robot Based on Least Square Method

摘要：

　　Localization is the basis for navigation of mobile robots.This paper focuses on key techniques of localization for mobile robots based on vision.Firstly,the specific measures and steps of the algorithm are analyzed and researched in depth.In the study,SIFT algorithm combined with epipolar geometry constraint is used on the environment feature point detection,matching and tracking.And the method of RANSAC combined with the least squares is used to obtain accurate results of the motion estimation.Then the necessary experiments are carried out to verify the correctness and effectiveness of algorithms.The experimental results verified the accuracy of the improved algorithm.

关键词： SIFT RANSAC motion estimation least squares

作者: Li Jialu Long Linbing Zhang Baofeng

作者单位: Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Tianjin,China

会议类型: 国际会议

会议名称: 2013 2nd International Conference on Computer Science and Electronics Engineering(ICCSEE2013)(2013年第二届计算机科学与电子工程国际会议)

会议地点: 杭州

会议语种:英文

页码: 2288-2291

在线出版日期: 2013-03-22（万方平台首次上网日期，不代表论文的发表时间）