How Does CCD Visual Positioning System Work?

How Does CCD Visual Positioning System Work?

Due to the rapid development of digital image processing and computer vision technology, 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.