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Apparatus and method for instant localization and mapping

A technology for map construction and mobile electronic equipment, applied to road network navigators, etc., can solve the problems of small number of feature points, poor robustness, limited laser line sampling points, etc., and achieve the goal of improving positioning ability and increasing the number of feature points Effect

Active Publication Date: 2018-02-27
LENOVO (BEIJING) LTD
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  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

The feature points based on two-dimensional (2D) laser sensors mostly use geometric features. Due to the limited sampling points of the laser line, the number of calculated feature points is small and the matching robustness is not good.

Method used

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  • Apparatus and method for instant localization and mapping
  • Apparatus and method for instant localization and mapping
  • Apparatus and method for instant localization and mapping

Examples

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Embodiment Construction

[0038] 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.

[0039] First, refer to figure 1 A mobile electronic device for positioning and mapping in unknown environments according to an embodiment of the present invention is described.

[0040] Such as ...

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Abstract

A mobile electronic device used for positioning and map construction in an unknown environment, including: a first sensor, used to obtain a first image of the current scene in a current posture; a second sensor, used to obtain a first image of the current scene in the current posture The second image of the current scene; the feature point extraction unit is used to extract the feature points of the first image and the feature points of the second image using a feature extraction algorithm; the matching unit is used to compare the feature points of the current scene with the features of the previous scene Points are matched, and a transformation matrix from the previous scene to the current scene is obtained; a positioning and map construction unit is used to determine the relative posture of the movable electronic device relative to the previous scene based on the transformation matrix and the matching feature points. changes to localize and merge the image of the current scene with a known map.

Description

technical field [0001] The present invention relates to a device and method for instant positioning and map construction, and more particularly, to a device and method for instant positioning and map construction capable of improving positioning performance. Background technique [0002] Simultaneous Localization and Mapping (SLAM) is currently a hot research topic in robot localization. The so-called SLAM is the integration of mobile robot positioning and environmental map creation, that is, the robot builds an incremental environmental map according to its own pose estimation and sensor perception of the environment during the movement process, and uses the map to realize its own positioning. [0003] In robot localization, enough environmental feature points are needed for precise localization. The feature points based on two-dimensional (2D) laser sensors mostly use geometric features. Due to the limited sampling points of the laser line, the number of calculated featur...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/32
CPCG01C21/32
Inventor 刘国良张贺李南君
Owner LENOVO (BEIJING) LTD
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