室内图书运载车的计算机视觉定位定向方法

提出一种可用于图书馆内图书运载车的车辆室内自动定位定向方法.借鉴二维条形码思想,设计了一种简单方便、易于识别、内含绝对位置坐标、具有一定纠错能力的路标,可将路标放置在图书馆天花板上,由安装于图书运载车上,且光轴和天花板垂直的摄像机进行拍摄,通过图像分割,连通域寻找,轮廓特征曲线匹配以及路标特征识别步骤定位路标,解析路标中所包含的坐标信息以及偏转角度,进而计算出车辆当前所处的绝对位置和航向角.通过实验,验证了所提出方法的有效性,能够满足图书馆内图书运载车室内定位的要求.

An indoor position and orientation method in library environment based on landmark and vision

An indoor position and orientation method used for book-carrying vehicle in library environ- ment is proposed. Referring to the two-dimension bar code, a new landmark which is simple, easy to recognition, contains the absolute position coordinate, has the capability of error correction is de- signed. The landmark is placed on the ceiling of library. The camera which is mounted on the book- carrying vehicle and its optical axis is vertical with the plane of ceiling capture the image. The coordi- nate and angle information of landmark is acquired through the steps of image segmentation, contour extracting, feature curve matching and character identification, heading of forklift truck is calculated. The experiments proved shows that the method can meet accuracy requirements of indoor and then the absolute position and the effectiveness of the method and oosition and orientation.