odometry meaning in English
测程法
Examples
- This paper describes a new way to fuse vision information and odometry data
摘要提出了一种新的将视觉信息和里程计数据相融合的方法。 - This thesis presents an odometry model for 4 - wheel omnidirectional mobile robots and proposes a method to achieve holonomic description of robot ’ s kinematic characteristics based on two dual - axis accelerations . with combinated data from encoder 、 acceleration 、 compass and pose from an omni - directional vision system , a kalman filter is designed to fuse data for robot ’ s self - localization . results of experiments concludes the achievement of this thesis
通过分析本文选用的几种传感器和视觉在机器人定位应用中的特点,对基于kalman滤波的融合方法在机器人定位中的应用进行了讨论,建立了机器人加速度模型,并对其线性化,基于传感器测量和预处理结果,建立了系统观测模型。 - The main work of the thesis is as follows : we design a novel omni - mirror more applicable in robocup , which is made up of an isomeric horizontal mirror and an isomeric vertical mirror and can make the resolution of the imaging of the objects near the robot on the field constant and make the distortion of the imaging of the objects far from the robot small in vertical direction ; we select a 1394 digital color camera and complete the development of its software program for data acquisition ; we design a image processing algorithm for the panoramic image , which can segment the image by color , extract the features of image fast and effectively and complete the recognization of target ; according the character of the imaging , we design a new fast hough transform algorithm for line detection , which can detect the white mark lines of the field realtimely , and then design a robot ’ s self - localization method based the mark lines , which only uses the information of omni - vision system ; finally we design a monte carlo localization method based on the information of omni - vision system and odometry , and present the localization results of two localization methods and analyze the experiment results and get the conclusions
本论文的主要工作如下:设计了一种新的更适用于机器人足球赛的全向反射镜面,该镜面由水平等比镜面和垂直等比镜面组合而成,能够使机器人近处一定范围内水平场地上的物体成像分辨率不变,远处物体成像高度上变形较小;选择了一款基于1394接口的数字摄像机,并完成其数据采集程序开发;针对全景图像设计了图像处理算法,能够快速有效的实现图像颜色分割和图像特征提取,完成目标识别;根据全景图像的成像特性,设计了一种新的用于直线检测的快速hough变换算法,能够实时的提取出场地的白色标志线,并在此基础上设计了完全利用全向视觉信息的基于标志线的机器人自定位方法;最后设计了一种基于全向视觉信息和里程计信息的montecarlo定位方法,给出两种方法的定位结果,并分析实验结果,给出结论。 - This is structure from motion . while building map , the robot has to update its odometry data , then continue to create map . this process is called simultaneous localization and mapping ( slam ) , and the localization during slam is local localization
机器人在创建地图的过程中,为了提高地图的精度,需要时刻修正里程计数据,再利用新的位姿更新地图,这个一边创建地图一边修正自己位姿的过程称为同时定位与地图创建,即slam ,而slam过程中机器人修正位姿的过程称为局部定位。