基于双目视觉SLAM多维数据融合的物流机器人定位算法
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1合肥信息技术职业学院未来学院,安徽 合肥 230601;2安徽农业大学信息与人工智能学院, 安徽 合肥 230000

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2024年安徽省高等学校人文社会科学研究重点项目(2024AH053125)。


Logistics Robot Localization Algorithm Based on Binocular Vision SLAM Multidimensional Data Fusion
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1Future College, Hefei Information Technology University, Hefei 230601, Anhui, China;2School of Information and Artificial Intelligence, Anhui Agricultural University, Hefei 230000, Anhui, China

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    摘要:

    在复杂的仓储与物流环境中,准确感知机器人位置和姿态,才能保障其高效、安全地完成作业任务。为实现上述目的,提出基于双目视觉同步定位与地图构建(simultaneous localization and mapping,SLAM)多维数据融合的物流机器人定位算法。结合双目视觉SLAM算法,完成传感器监测数据的多维融合,进而创建机器人运动场景的地图模型;在该模型中,估计物流机器人运动轨迹,并通过对位姿点特征的提取与匹配运算,求解目标算法的函数表达式,实现基于双目视觉SLAM多维数据融合的物流机器人定位。实验结果表明:基于所提算法可以避免机器人实时行进位置与预设轨迹点出现较大偏差,且利用目标位姿点所定义的运动轨迹中不包含障碍物样点,在复杂的物流环境中,能够保障机器人高效完成作业任务。

    Abstract:

    In complex warehouse and logistics scenarios, accurate perception of robot position and attitude is essential to guarantee efficient and safe operation. In order to achieve the above purpose, a logistics robot localization algorithm based on binocular vision simultaneous localization and mapping (SLAM) multi-dimensional data fusion is proposed. Combined with the binocular vision SLAM algorithm, the multi-dimensional fusion of sensor monitoring data is completed, and then the map model of the robot motion scene is created. In this model, the trajectory of the logistics robot is estimated, and the function expression of the target algorithm is solved through the extraction and matching operation of the position and pose point features so as to realize the logistics robot positioning based on the binocular vision SLAM multi-dimensional data fusion. Experimental results demonstrate that the proposed algorithm effectively reduces position deviation between the robot''s real-time position and preset trajectory. The trajectory generated by pose points excludes obstacle points, enabling the robot to operate efficiently in complex logistics environments.

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吕晓英,叶勇.基于双目视觉SLAM多维数据融合的物流机器人定位算法[J].西昌学院学报(自然科学版),2026,40(2):74-80.

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  • 收稿日期:2025-12-25
  • 最后修改日期:2026-03-10
  • 录用日期:2026-03-31
  • 在线发布日期: 2026-07-08