Initial Location Calibration of Home Service Robot Based on 2-Dimensional Codes Landmarks

摘要：

　　Inspired by the calibration of industrial manipulators,we propose an economical and convenient initial location calibration solution for home service robot in this paper.With 2D codes landmarks deployed on the floor,the robot can calculate its location after 2D codes decoding and coordinate transformation.However,how to find a landmark autonomously and efficiently is an issue.Two search strategies are presented in this paper.Given no information of the robots surroundings,the robot adopts a blind search strategy to find a 2D code landmark nearby.In order to improve the search efficiency,we propose a vision-based search strategy.With Kinect RGB camera,the robot firstly estimates the location of the nearest landmark to reduce the time consumed on blind search strategy.The experiments results validate the feasibility of our solution.

关键词： Home service robot initial location calibration 2D codes landmarks blind search vision-based search

作者: ZHANG Sen SUN Lei DONG Liang YUAN Baopeng CHEN Zhongliang LIU Jingtai

作者单位: Institute of Robotics and Automatic Information System,Nankai University,Tianjin 300450;Tianjin Key Laboratory of Intelligent Robotics

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 8315-8320

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）