Method for detecting yaw angle of indoor robot using visual vanishing point

doi:10.13474/j.cnki.11-2246.2021.0003

Abstract

Abstract: While the indoor obstacle map is presented to the user to browse, it is also the basis for path planning and obstacle avoidance of the autonomous motion visual robot. Due to the randomness of the initial pose selection of the autonomous motion vision robot, when the robot walks in a random direction, it often causes the indoor obstacle map to be skewed. In this paper, a single calibrated photo is used to detect the orthogonal vanishing point. Combined with the geometric perspective principle of the camera and the vanishing point geometric characteristics, a simple and fast method for detecting the yaw angle of the indoor robot is proposed. And it is successfully used in the trajectory optimization of the autonomous motion robot and direction correction of the created obstacle map. The comparison experiment indicates that the indoor robot yaw angle detection method based on visual vanishing point has high accuracy. While correcting the orientation of the obstacle map, the robot has a short running trajectory and low time consumption. It has good prospects for promotion and application.

Key words: vanishing point, yaw angle, detection, obstacle map, skew correction

CLC Number:

P228

WANG Cheng, CUI Ximin, CAI Liangli, LIU Huan, ZHANG Jian. Method for detecting yaw angle of indoor robot using visual vanishing point[J]. Bulletin of Surveying and Mapping, 2021, 0(1): 13-17,23.

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