Simultaneous localization and mapping method and device

A technology for map construction and acquisition devices, which is applied in directions such as navigation through speed/acceleration measurement, can solve problems such as high equipment cost, high technical difficulty, interference, etc., and achieve cost saving, novel cost, real-time positioning and map construction Effect

Active Publication Date: 2013-09-25
LENOVO (BEIJING) CO LTD
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, these existing real-time positioning and mapping (SLAM) methods usually need to rely on a combination of multiple navigation devices to achieve, which is technically difficult, expensive, and susceptible to interference from external information

Method used

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  • Simultaneous localization and mapping method and device
  • Simultaneous localization and mapping method and device

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Embodiment Construction

[0017] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0018] First, refer to figure 1 The real-time positioning and map construction device according to the embodiment of the present invention is described. The instant positioning and mapping means are preferably, for example, mobile electronic devices such as robots.

[0019] Such as figure 1 As shown, the real-time positioning and mapping device 10 according to the embodiment of the present invention includes an inertial navigation device 20 and a collision sensor component 30 .

[0020] Specifically, the inertial navigation device 20 includes a gyroscope, an accelerometer, etc., which are used to obtain information such as the motion position, attitude, and speed of the instant positioning and map construction device 10 . The inertial navigation device 20 uses a method of dead reckoning, that is, from the position of a known point, th...

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Abstract

The invention discloses a simultaneous localization and mapping method based on an inertial navigation device, and a simultaneous localization and mapping device using the simultaneous localization and mapping method. The simultaneous localization and mapping method based on the inertial navigation device comprises: recording initial characteristic point information of an initial point for placing a characteristic point information obtaining device, wherein the characteristic point information obtaining device is a moveable electronic device, and the movable electronic device comprises the inertial navigation device and a crash sensor component; moving the moveable electronic device, when the crash sensor component of the movable electronic device senses crash, determining the place generating crash to be the characteristic point, and recording the characteristic point information about the characteristic point, obtained by the inertial navigation device; based on a predetermined crash strategy, continuously moving the movable electronic device in order to obtain other characteristic point information; and mapping based on the obtained predetermined information of numbers of characteristic points.

Description

technical field [0001] The present invention relates to the field of real-time positioning and mapping (SLAM), more specifically, the present invention relates to a real-time positioning and mapping method based on an inertial navigation device and a real-time positioning and mapping device using the instant positioning and mapping method. Background technique [0002] Localization and mapping of mobile devices are hot research issues in robotics. Practical solutions have been developed for autonomous localization of mobile devices in known environments and for map creation of known robot positions. However, in many environments mobile devices cannot be positioned using a global positioning system, and it is difficult, if not impossible, to obtain a map of the environment in which the mobile device operates in advance. At this time, the mobile device needs to build a map in a complete location environment under the condition that its own position is uncertain, and at the sa...

Claims

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Application Information

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IPC IPC(8): G01C21/16
Inventor 刘云浩李南君张德魁
Owner LENOVO (BEIJING) CO LTD
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