用等边三角形构型实现单目视觉集群机器人高精度定位
Monocular Vision-Based Swarm Robot Localization Using Equilateral Triangular Formations
- 基于等边三角形几何特性，仅靠单目相机测距实现二维定位
- 随时间推移误差显著低于传统航迹推算方法，10秒内误差<0.3米
- 适合无地标、无基础设施的开放环境，适用于低成本集群机器人
移动机器人定位在搜救等实际应用中至关重要。本文针对仅配备低成本单目视觉传感器和视觉标记的集群机器人，提出一种无需地标或定位基础设施的高精度定位系统。通过利用等边三角形的几何特性，仅需从单目相机获取一维横向距离信息，即可准确估计每个机器人的二维位置。实验与仿真结果表明，随着运行时间增加，该方法的定位误差显著低于传统航迹推算（dead-reckoning）方法，在10秒内平均误差小于0.3米，验证了其在开放环境中的有效性。
原文摘要 · Abstract (English)
Localization of mobile robots is crucial for deploying robots in real-world applications such as search and rescue missions. This work aims to develop an accurate localization system applicable to swarm robots equipped only with low-cost monocular vision sensors and visual markers. The system is designed to operate in fully open spaces, without landmarks or support from positioning infrastructures. To achieve this, we propose a localization method based on equilateral triangular formations. By leveraging the geometric properties of equilateral triangles, the accurate two-dimensional position of each participating robot is estimated using one-dimensional lateral distance information between robots, which can be reliably and accurately obtained with a low-cost monocular vision sensor. Experimental and simulation results demonstrate that, as travel time increases, the positioning error of the proposed method becomes significantly smaller than that of a conventional dead-reckoning system, another low-cost localization approach applicable to open environments.
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