机器人伴侣定位于家庭及办公室

机器人伴侣定位于家庭及办公室(中文4900字,英文4100字)

摘要
以东机器人的能力在很大程度上取决于基本技能，如性能视觉化和本地化。虽然已经取得了很大的进步，探索和广泛的映射与车轮大完整约束机器人的公共区域，较少重视对本土化在一个密闭的环境作为一个房间，办公室或家里小机器人伴侣。在这篇文章中，定位算法里面流行的索尼娱乐机器人爱宝房间都制定。该算法可以基于自然提供本地化信息外观的房间墙壁。该算法开始时，使周边的扫描转动机械手的头部和身体上的某个地方。机器人学的外观
在这点在全景存储的色彩过渡在不同角度的周围索引。所存储的全景外观是用来确定方向（包括置信度值）相对于其他点在房间里学到点。当多个斑点了解到，可以绝对位置估计有关。这类的适用性本地化是体现在两个环境：在家里和办公室。

Robot companion localization at home and in the office
          Arnoud Visser J¨urgen Sturm Frans Groen
   Intelligent Autonomous Systems, Universiteit van Amsterdam
    http://www.science.uva.nl/research/ias/
Abstract
   The abilities of mobile robots depend greatly on the performance of basic skills such as
vision and localization. Although great progress has been made to explore and map extensive
public areas with large holonomic robots on wheels, less attention is paid on the localization
of a small robot companion in a confined environment as a room in office or at home. In
this article, a localization algorithm for the popular Sony entertainment robot Aibo inside a
room is worked out. This algorithm can provide localization information based on the natural
appearance of the walls of the room. The algorithm starts making a scan of the surroundings by
turning the head and the body of the robot on a certain spot. The robot learns the appearance
of the surroundings at that spot by storing color transitions at different angles in a panoramic
index. The stored panoramic appearance is used to determine the orientation (including a
confidence value) relative to the learned spot for other points in the room. When multiple
spots are learned, an absolute position estimate can be made. The applicability of this kind of
localization is demonstrated in two environments: at home and in an office.