用棋盘格地板和单目相机实现低成本毫米级定位
GroundGazer: An optical reference system for planar localization with millimeter accuracy at low cost
- 用鱼眼相机+棋盘格地板构建平面定位系统
- 实现毫米级位置与亚度级朝向精度
- 适合多机器人协同的低成本定位场景
目前高精度室内定位系统（如激光跟踪仪、全站仪、多摄像头运动捕捉系统）成本高昂。本文提出一种名为GroundGazer（GG）的高精度平面室内定位系统，专为自主移动机器人（AMRs）设计。该系统仅需单目（鱼眼）相机、棋盘格地板及可选激光二极管，即可实现毫米级平面位置与亚度级朝向估计。系统结构简单、成本低，具备鲁棒性，可扩展至多机器人部署，并支持未来拓展至三维位置与姿态估计。
原文摘要 · Abstract (English)
Highly accurate indoor localization systems with absolute mm positioning accuracy are currently expensive. They include laser trackers, total stations, and motion capture systems relying on multiple high-end cameras. In this work, we introduce a high-accuracy, planar indoor localization system named GroundGazer (GG) for autonomous mobile robots (AMRs). GG estimates the AMR's planar position with mm and its heading with sub-degree accuracy. The system requires only a monocular (fisheye) camera, a chessboard floor, and an optional laser diode. Our system is simple and low-cost due to the chessboard floor, robust, scalable to multiple robots, and extendable to 3D position and orientation estimation.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。