室内单目视觉全局定位系统的设计与实现

摘要

针对室内定位的准确、稳定、快速的工程需求,设计了一种基于单目摄像头的低成本室内全局定位系统.通过分析摄像头取景框内实际空间关系,采用普通支架摄像头架设方式,提高方案的普适性;为快速获得检测目标,设计了基于RGB图像背景减除的启发式运动目标检测方法.最后借助实验室轮式移动平台进行了实验,结果表明,文章设计的全局定位系统实现了室内运动目标的定位功能,检测到的定位点与移动平台规划路径采样点绝对距离误差小于10.16 cm.%A low - cost indoor global positioning system based on monocular camera is designed for the accurate,stable and fast engineering requirement of indoor positioning. By analyzing the actual spa-tial relationship in the camera aperture,a common bracket erected for camera is adopted to improve the universality of the scheme. In order to get the detection target quickly,a heuristic detection method for moving targets based on RGB image background subtraction is designed. Then the experiments is carried out with aid of wheeled mobile platform in the laboratory and the results show that the global positioning system designed in this paper realizes the positioning function of the indoor moving targets. The absolute distance error between the detected locating points and the sampling points on the path planned by of the moving platform is less than 10. 16 cm.