Author:
Fei Yu,Fu Qiang,Zhuang Ying,Liu Xiang,Liao Gonglei,Zhao Qichun
Abstract
Abstract
In order to realize robot autonomous localization and navigation, binocular vision localization based on particle swarm optimized particle filter (PSOPF) is put forward according to the characteristics of nonlinear and non-Gaussian distribution complex system. The localization of 6-DOF robot only depends on binocular vision in the method. At first, road signs are obtained by SIFT feature matching points of binocular vision. The second, initial pose estimation is obtained by four elements. Finally, robot pose is estimated accurately by PSOPF, and the algorithm overco mes the shortcoming of particle filter (PF) and imp rove estimation accuracy. Experiment results show that this algorithm has high computing accuracy and robustness.
Subject
General Physics and Astronomy
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