Research of robot navigation vision sensors based on grating projection stereo vision

ZHANG Xiaoling; LUO Yinsheng; LIN Yuchi

doi:10.7510/jgjs.issn.1001-3806.2017.03.014

LASER TECHNOLOGY > 2017 > 41(3): 376-379. > DOI: 10.7510/jgjs.issn.1001-3806.2017.03.014

ZHANG Xiaoling, LUO Yinsheng, LIN Yuchi. Research of robot navigation vision sensors based on grating projection stereo vision[J]. LASER TECHNOLOGY, 2017, 41(3): 376-379. DOI: 10.7510/jgjs.issn.1001-3806.2017.03.014

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Research of robot navigation vision sensors based on grating projection stereo vision

1.
School of Electrical & Information Engineering, Jiangsu University of Technology, Changzhou 213001, China
2.
State Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University, Tianjin 300072, China

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Received Date: June 12, 2016
Revised Date: September 12, 2016
Published Date: May 24, 2017

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Abstract

In order to detect obstacles and locate mobile robots in mobile robot navigation under dark environment, a novel visual navigation method based on grating projection stereo vision was proposed. At first, by combining with grating projection profilometry of plane structured light and stereo vision technology, the geometry and mathematical model of a grating projection stereo vision sensor were founded. Then, the method of space equipment position constraint and projection plane intersection were used and 3-D coordinates of the object in field of view of robot were calculated. A reliable and real method of obstacle detection and analysis was established. After theoretical analysis and experimental verification, the caculated range precision of 0.8mm was obtained. The results show that the method can achieve sub-pixel accuracy in image computation. The study can be used to overcome the problem that the robot can't navigate autonomously in dark environment and provides a basis of robot navigation without global positioning system support in dark environment.
- image processing,
- robot navigation,
- vision sensor,
- grating projection stereo vision,
- obstacle

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