Measurement of rotation angle for robot navigation system

摘要

A new method of measuring the rotation angle, by analysis of the image sequence is proposed. A stereo technique based on fast analysis of the overlapping images by dynamic programming method is used to determine the relative displacement (disparity) of the image pair. As compared to inertial sensors, that gives only stationary error which has been not increased in time of the system operation. The proposed approach is based on a calculus of an encountering frequency for disparities of the corresponding features in the image pair. Maximal relative encountering frequency (MRF) is corresponded to the most probable disparity value. For the determination of the rotation angle, there is needed to process only a small part of each image not more than five percentages of its volume.