论文标题
机器人房间使用光学范围查找
Robotic Room Traversal using Optical Range Finding
论文作者
论文摘要
考虑访问不被障碍阻塞的房间的每个部分的目标。这样做有效地需要传感器和计划。我们的发现提出了一种用于机器人室遍历的廉价光学范围查找方法。我们的房间遍历算法依赖于360度的机器人到最近障碍物的大约距离。然后，我们选择最远的距离的路径。由于我们的问题不需要毫米，因此我们选择开发自己的激光范围找到解决方案，以代替使用更常见但昂贵的解决方案（如光检测和射程（LIDAR））。相反，我们的解决方案使用了一个激光器，该激光器在目标和公共相机上施放可见点（例如iPhone）。根据在摄像机框架中检测到激光点的位置，我们可以计算目标和激光孔之间的角度。使用此角度以及相机眼和激光光圈之间的已知距离，我们可以解决三角模型的所有侧面，该模型提供了机器人和目标之间的距离。
Consider the goal of visiting every part of a room that is not blocked by obstacles. Doing so efficiently requires both sensors and planning. Our findings suggest a method of inexpensive optical range finding for robotic room traversal. Our room traversal algorithm relies upon the approximate distance from the robot to the nearest obstacle in 360 degrees. We then choose the path with the furthest approximate distance. Since millimeter-precision is not required for our problem, we have opted to develop our own laser range finding solution, in lieu of using more common, but also expensive solutions like light detection and ranging (LIDAR). Rather, our solution uses a laser that casts a visible dot on the target and a common camera (an iPhone, for example). Based upon where in the camera frame the laser dot is detected, we may calculate an angle between our target and the laser aperture. Using this angle and the known distance between the camera eye and the laser aperture, we may solve all sides of a trigonometric model which provides the distance between the robot and the target.
