In the analysis of the features and properties of camera based on the data, constructs the projection model and error model positioning calculation model, expanded beam method traditional adjustment model is only for image observations are optimized, constructed model with two or three dimensional positioning information integration RGB-D camera. The design experiments verified the accuracy of detection and matching, and combined with the depth measurement characteristics, we constructed two weight matrixes of observation information, thus improving the mathematical model of the whole location calculation.

Abstract. Humanoid robot is a kind of rare multiple-degree-of-freedom system with high order, non-linearity and nonholonomic constraint in project and it has powerful kinematic dexterity, which therefore has provided a pretty ideal experiment platform for the kinematics, dynamics, simulation technique, multi-sensor fusion and control theory and other researches of robot. In this paper, a new kind of angular deflection method is provided to make robot quickly escape from the local minimum point, which has planned a smooth collision-free path successfully. And simulation experiment is used to prove the effectiveness of the method planning.