移動機器人立體視覺系統(tǒng)不僅提供三維地形圖用于障礙規(guī)避和路徑規(guī)劃，其結(jié)果還可以用于視覺導航。以移動機器人立體視覺系統(tǒng)為基礎(chǔ)，研究了基于前后兩個位置上立體圖對的視覺測量算法用于移動機器人的連續(xù)導航，討論了影響導航精度的因素和改進方法；研究了基于局部和全局三維地形圖的地形匹配算法用于定期校正位置誤差，算法實現(xiàn)簡便，定位精度取決于地形圖精度。實驗結(jié)果證明了兩種方法的有效性，可以兼顧近距離和中遠距離導航任務(wù)。%Mobile robot stereo vision system not only provides 3D terrain map to be used in obstacle avoiding and path planning,but also lays the base for visual navigation. The visual odometry algorithm based on two stereo pairs is studied for application in continuous navi-gation. The factors related to navigation precision are discussed and improvement measures are presented. A terrain matching algorithm based on local and global terrain map is proposed for application in positioning error correction. The algorithm is simple and convenient and its precision depends mainly on the precision of terrain map. Experiments with analog lunar terrain indicate that these two algorithms are effective and can be used in close range and long range navigation.
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