论文标题
基于Aruco Maker的本地化和节点图映射方法
ArUco Maker based localization and Node graph approach to mapping
论文作者
论文摘要
本文使用基于基准标记的地标节点图探讨了室内移动机器人的定位和导航方法。使用Aruco标记及其相对于机器人相机的2D方向以及与相机与标记的距离用于计算机器人的相对位置以及其他标记的相对位置。所提出的方法结合了基于信标的导航和同时本地化和基于映射的导航的各个方面。此方法的实现使用深度摄像头来获得与标记的距离。在计算标记的所需方向后，它依赖于探射计算来跟踪相对于标记的定位后的位置。然后，使用一个标记的探光仪和相对位置，然后将机器人与另一个标记相对于另一个标记。然后计算两个标记的相对位置和方向。标记表示为节点，相对距离和方向表示为连接节点的边缘，并且可以生成一个代表机器人映射的节点图。该方法在轮式的类人机器人机器人上进行了测试，目的是使IT自动导航到房间内的充电站。该目标成功实现了，并简要讨论了局限性和未来的改进。
This paper explores a method of localization and navigation of indoor mobile robots using a node graph of landmarks that are based on fiducial markers. The use of ArUco markers and their 2D orientation with respect to the camera of the robot and the distance to the markers from the camera is used to calculate the relative position of the robot as well as the relative positions of other markers. The proposed method combines aspects of beacon-based navigation and Simultaneous Localization and Mapping based navigation. The implementation of this method uses a depth camera to obtain the distance to the marker. After calculating the required orientation of the marker, it relies on odometry calculations for tracking the position after localization with respect to the marker. Using the odometry and the relative position of one marker, the robot is then localized with respect to another marker. The relative positions and orientation of the two markers are then calculated. The markers are represented as nodes and the relative distances and orientations are represented as edges connecting the nodes and a node graph can be generated that represents a map for the robot. The method was tested on a wheeled humanoid robot with the objective of having it autonomously navigate to a charging station inside a room. This objective was successfully achieved and the limitations and future improvements are briefly discussed.
