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SURF (speeded up robust feature) algorithm based localization method and robot

A robot and algorithm technology, applied in instruments, manipulators, program-controlled manipulators, etc., can solve problems such as high computational complexity, complex visual information, and difficulty in realizing real-time performance.

Active Publication Date: 2014-03-19
江苏久祥汽车电器集团有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, vSLAM also has some problems, mainly because the visual information is too complex and the calculation complexity is relatively high. It is difficult to achieve real-time performance when the visual sensor acquires large-resolution images; and it is aimed at the map information of a certain position of the mobile robot. The amount of data is often large, and when the exploration environment is large, the storage of map information will also face challenges

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  • SURF (speeded up robust feature) algorithm based localization method and robot
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Embodiment Construction

[0019] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0020] Such as figure 1 As shown, the present invention mainly relates to an intelligent robot in a home environment, which is an autonomous mobile robot with environmental awareness, simultaneous positioning and map creation, and obstacle avoidance path planning. It includes a perception system, a core control module, a human-computer interaction system, and a motor drive system. The perception system accepts audio and / or video signals input through various chann...

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Abstract

The invention relates to an SURF (speeded up robust feature) algorithm based localization method and a robot. An SURF is taken as a monocular vision SLAM (simultaneous localization and mapping) feature detection operator, innovation and improvement in three aspects of interest point detection, SURF descriptor generation and SURF point matching are performed respectively, and an SURF feature matching method based on region growing is proposed for finishing SLAM of the robot, so that in the SURF descriptor matching process, a certain descriptor is only compared with a descriptor most likely matched with the certain descriptor, accordingly, the comparison times in the problem of monocular vision SLAM are remarkably reduced, and the matching speed is increased.

Description

[0001] technical field [0002] This application relates to the field of autonomous navigation of intelligent robots, in particular to the problem of co-location and map generation of robots, and in particular to a method for positioning based on the SURF algorithm and a robot. [0003] Background technique [0004] Intelligent robots, such as sweeping robots and robots, are more and more widely used in family life. To move flexibly, efficiently and intelligently, robots need to have autonomous navigation capabilities. Map building (Map Building), location (Location) and path planning (Path Planning) are the three key elements of autonomous navigation. Among them, map building and positioning are interdependent. Without an environmental map, the position of the robot cannot be accurately calibrated. If the initial location is uncertain, the created map lacks a datum point. For this reason, the positioning and map creation of robots in unknown environments will be realized ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J13/00B25J13/08
CPCB25J9/1666B25J13/08G05B2219/39082
Inventor 蔡则苏王丙祥王玲
Owner 江苏久祥汽车电器集团有限公司
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