Optimized Landmark Distribution for Mobile Robot Visual Homing

3rd International Conference on Automation, Control and Robotics Engineering

工业技术;计算机科学;无线电电子学

Ji, Xun^1 ; Zhu, Qidan^1

College of Automation, Harbin Engineering University, Harbin, China^1

关键词: Distance-difference;    Feature-based;    Image pixels;    Low qualities;    Visual homing;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/428/1/012056/pdf
DOI  :  10.1088/1757-899X/428/1/012056

来源: IOP

【 摘 要 】

In this paper, we present an optimized landmark distribution method for mobile robot visual homing technology. To satisfy the equal distance assumption for feature-based homing algorithms, the proposed method eliminates the low-quality features according to the image pixel distance difference and the scale information. Finally, a near-ideal distribution of the landmarks can be obtained. We take the feature-based average landmark vector (ALV) algorithm as the example, and prove the effectiveness of the proposed method by the experiments.