关键词: 单应分解, 人工地标, 自定位, 双足机器人

Abstract:

To solve self-localization problem of a biped robot in indoor environment such as home or office, a novel method which adopts homography decomposition from world plane was proposed. First, a new kind of artificial landmark, AR-mark, is designed, and feature points are mainly extracted by the color-based segmentation. Along with the feature points matching with the space 3D points in world space, homography from world plane is calculated by direct linear variation (DLT) method. Finally, the position and pose parameters expressed relative to the landmark frame of the biped robot are obtained using homography decomposition to realize robot self-localization. The experimental results show that the designed AR-mark artificial landmark can be easily recognized with rich environment information. Moreover, the proposed method has high positioning accuracy to assist the biped robot to accomplish the indoor self-localization task.

Key words: homography decomposition, AR-mark, self-localization, piped robot