Mobile robot location algorithm based on image processing technology

To improve the reconfigurable micro mobile robot cluster system based on precision detection, a positioning and tracking system based on computer digital image processing technology was developed. The system consisted of three subsystems: image acquisition and preprocessing subsystem, rapid position...

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Bibliographic Details
Published in:EURASIP journal on image and video processing 2018-10, Vol.2018 (1), p.1-8, Article 107
Main Authors: Wu, Guifeng, Zheng, Jie, Bao, Jiatong, Li, Shengquan
Format: Article
Language:English
Subjects:
Algorithms
Biometrics
Computer simulation
Digital computers
Digital imaging
Engineering
Image acquisition
Image detection
Image processing
Image Processing and Computer Vision
Image processing technology
Microrobots
Mobile robot
Object recognition
Pattern Recognition
Positioning and tracking
Preprocessing
Robots
Signal,Image and Speech Processing
Tracking systems
Visual Information Learning and Analytics on Cross-Media Big Data
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Summary:To improve the reconfigurable micro mobile robot cluster system based on precision detection, a positioning and tracking system based on computer digital image processing technology was developed. The system consisted of three subsystems: image acquisition and preprocessing subsystem, rapid positioning subsystem based on robot marker recognition, and tracking subsystem based on position estimation. First, after studying the related algorithms in the subsystem, the threshold selection method of adaptive gray weight conversion was proposed for image preprocessing. Then, a fast positioning method based on marker recognition for miniature mobile robots was proposed. The selection of micro-robot markers and the basis for judging the selection of moments were given. A triangular projection positioning method was implemented, and related experimental results were given. Finally, the windowing scanning algorithm was optimized. According to the speed and direction of the robot, a tracking algorithm for position estimation was proposed. Through the simulation experiment, the effect of system positioning tracking and the system reference time in 0.270 s were given. The results showed that the system had high real-time performance.
ISSN:1687-5281
1687-5176
1687-5281
DOI:10.1186/s13640-018-0352-0