Wie funktioniert das visuelle CCD-Positionierungssystem??

Wie funktioniert das visuelle CCD-Positionierungssystem??

Aufgrund der rasanten Entwicklung der digitalen Bildverarbeitung und der Computer-Vision-Technologie, more and more researchers have adopted cameras as the perception sensors of fully autonomous mobile robots.

The filter-based positioning algorithms of CCD visual positioning system mainly include KF, SEIF, PF, EKF, and UKF. The method of combining monocular vision and odometer can also be used. Using the odometer reading as auxiliary information, the coordinate position of the feature point in the current robot coordinate system is calculated by triangulation. The three-dimensional coordinate calculation here needs to be carried out on the basis of a delay of one time step.