摘要： 针对室内环境移动机器人的自定位问题，提出一种嵌入式移动机器人红外路标定位模块。采用基于单应矩阵的初始标定算法和相机初始标定方法，补偿由于实际使用中的安装误差所引起的定位偏差。实验结果表明，该模块易于嵌入式系统实现，定位模块位置精度可达厘米级别，角度定位精度小于6°。

关键词: 移动机器人, 自定位, 被动式红外路标, 初始标定, 嵌入式处理器

Abstract: Aiming at the problem of self-localization for the mobile robot, a new infrared landmark localization module of embedded mobile robot is proposed. The module uses a single matrix initial calibration algorithm and camera initial calibration method to calibrate the camera before the process of localization. Experimental result shows that this module is effective on the embedded processors, and the precision of position localization is in the range of millimeter, the angle localization is less than 6°.

Key words: mobile robot, self-localization, passive infrared landmark, initial calibration, embedded processor

中图分类号: 

• TP391