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Secondary detection method and equipment for space invariables constructed by space map

A technology of secondary detection and map construction, applied in image analysis, image data processing, instruments, etc., can solve the problems of unable to find spatial invariants, slow running speed, large amount of calculation, etc., achieve good pose estimation, improve processing, etc. Speed, the effect of reducing the amount of calculation

Active Publication Date: 2013-07-03
LENOVO (BEIJING) LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0007] This method needs to calculate the position and attitude changes of the robot multiple times in each random experiment, and the calculation amount is large and the running speed is slow.
In addition, when the number of experiments is small, the optimal space invariant cannot be found

Method used

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  • Secondary detection method and equipment for space invariables constructed by space map
  • Secondary detection method and equipment for space invariables constructed by space map
  • Secondary detection method and equipment for space invariables constructed by space map

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Embodiment Construction

[0034] Various preferred embodiments of the present invention will be described below with reference to the accompanying drawings. The following description with reference to the accompanying drawings is provided to assist understanding of example embodiments of the invention as defined by the claims and their equivalents. It includes various specific details to aid in understanding but they are to be regarded as exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, detailed descriptions of functions and constructions well-known in the art will be omitted to make the description clearer and more concise.

[0035] In the method and device according to the embodiments of the present invention, the relative distance between the spatial invariants is used as the judgment basis, and the invariants are vo...

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Abstract

The invention discloses a secondary detection method and equipment for space invariables constructed by a space map. The method comprises the steps that the n space invariables preliminarily detected are acquired from a group of observation images obtained by an observation main body through two observations of an unknown space in a first pose and a second pose in sequence; distances among the corresponding space invariables in the two observations are calculated respectively; the distance between the ith space invariable and the jth space invariable is dij during the first observation; the distance between the ith space invariable and the jth space invariable is dij' during the second observation; i and j are less than or equal to n; j is not equal to i; the specific number of space invariables are voted based on a preset voting policy; the N correct space invariables are judged in the n space invariables according to a voting result and a preset judgment policy, so that the incorrectly matched space invariables are filtered; and N is a natural number and is less than or equal to n.

Description

technical field [0001] The invention relates to a space invariant secondary detection method and equipment for space map construction and a robot fast position estimation method and equipment. More specifically, it relates to a space-invariant secondary detection method and device capable of reducing calculation load and increasing operating speed, and a robot rapid position estimation method and device using the space-invariant secondary detection method and device. Background technique [0002] Three-dimensional positioning and map construction are one of the key supporting technologies for mobile robots to perform motion navigation, path planning, object recognition and semantic understanding in unknown environments. During the continuous movement of the robot, the position of the robot can be calculated by matching the three-dimensional observation data at different observation positions. The core of matching observation data and calculating position information is to a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00G06T7/70
Inventor 徐鹏志
Owner LENOVO (BEIJING) LTD