| 摘要 |
<p>The invention relates to a method and system for determining the position and orientation of robots moving in uniform environments. According to the invention, the system comprises one or two video cameras (1 and 3) placed on a mobile robot and oriented downwards and a processing unit (2) running a software application specialized in processing images taken over from video cameras (1 and 3). According to the invention, the method for determining the position and orientation of a robot consists in recording a sequence of images of the running surface, using one or two video cameras placed on the robot, and processing the images using a method for detection of translations and rotations which, by means of a computing method depending on the moving model of the mobile robot, generates the robot position and orientation depending on its position and orientation in any previous moment.</p> |
