Mobile robot cascading map building method based on remarkable scenic spot detection

A mobile robot and map creation technology, which is applied in the direction of instruments, image analysis, image data processing, etc., to achieve the effect of less storage space and computing resources, low missed detection rate and false detection rate, and ensure global consistency

Inactive Publication Date: 2013-09-04
SOUTHEAST UNIV
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Problems solved by technology

[0015] Technical issues: Aiming at the two main problems in the creation of cascaded maps, namely, how to select meaningful scenarios while taking into account storage requirements and landmark matching issues, and realize automatic sub-map segmentation; how to solve the topological association between sub-maps and ensure the topology nodes Global consistency; the present invention proposes a mobile robot cascade map creation method based on salient scene points

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  • Mobile robot cascading map building method based on remarkable scenic spot detection
  • Mobile robot cascading map building method based on remarkable scenic spot detection
  • Mobile robot cascading map building method based on remarkable scenic spot detection

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Embodiment Construction

[0050] Below in conjunction with specific embodiment, further illustrate the present invention, should be understood that these embodiments are only used to illustrate the present invention and are not intended to limit the scope of the present invention, after having read the present invention, those skilled in the art will understand various equivalent forms of the present invention All modifications fall within the scope defined by the appended claims of the present application.

[0051] The method step of the embodiment of the present invention is:

[0052] According to the image data collected by the mobile robot's vehicle-mounted monocular camera, the natural scene landmarks corresponding to the prominent scenes are detected online, and the topological nodes in the global map are generated;

[0053] According to the ranging laser sensor data, the dead reckoning odometer sensor, the pose estimation of the mobile robot in the previous cycle and the local grid sub-map obtai...

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Abstract

The invention relates to the technical field of mobile robot navigation and discloses a mobile robot cascading map building method based on remarkable scenic spot detection. The mobile robot cascading map building method comprises the steps of: 1) according to image data collected by a mobile robot sensor, carrying out on-line detection on a road sign of a natural scene corresponding to a remarkable scene so as to generate a topological node in a global map; 2) updating the pose of a mobile robot and a local grid map; and 3) building a global topological map structure by taking a remarkable scenic spot as the topological node, and optimizing the topological structure by introducing a weighted scanning and matching method and a relaxation method on the basis of the closed detection of trajectory of the robot to ensure the global consistency of the topological map. The mobile robot cascading map building method is applicable to the autonomous path planning and navigation application for various mobile robots in large indoor environment ranges such as a plurality of rooms and corridors.

Description

technical field [0001] The invention relates to the technical field of mobile robot navigation, in particular to a mobile robot cascade map creation method based on salient scene point detection. Background technique [0002] The in-depth understanding and utilization of the intelligent robot's workspace environment is an important prerequisite for the robot to realize autonomous intelligent behavior. Only when the mobile robot obtains the environmental map can it carry out path planning, trajectory tracking, global positioning, etc., so as to reach the destination smoothly. At present, the commonly used autonomous map creation methods for mobile robots are mainly divided into the following three categories: [0003] 1. The robot independently explores and navigates in the environment, scans environmental information through laser sensors, and creates grid maps with sensors such as odometers (see "Grisetti G. Improved Techniques for Grid Mapping with Rao-Blackwellized Parti...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/34G06T7/00
CPCG05D1/0274
Inventor 钱堃马旭东戴先中房芳
Owner SOUTHEAST UNIV
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