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Efficient and robust multi-sensor based slam coordination method and system

A multi-sensor, coordination method technology, applied in the field of communication, can solve the problems of real-time positioning and map construction failure rate increase, robot speed cannot be guaranteed, and robot positioning efficiency is low, so as to improve obstacle detection ability and reduce data acquisition failure , the effect of improving the success rate

Active Publication Date: 2017-02-08
LENOVO (BEIJING) LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Since the environmental data that can be obtained through a single sensor is small, and the blind spots are extremely large, even in a relatively regular indoor environment, data collection failures often occur. Therefore, a single matching strategy makes real-time positioning and map construction The failure rate increases; moreover, a single matching strategy is greatly affected by environmental changes, and the robot can only continue to move forward when the data collection is successful. Continue to collect at the position until the data collection is successful, so the speed of the robot cannot be guaranteed, resulting in low efficiency of robot positioning

Method used

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  • Efficient and robust multi-sensor based slam coordination method and system
  • Efficient and robust multi-sensor based slam coordination method and system
  • Efficient and robust multi-sensor based slam coordination method and system

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Embodiment 1

[0042] See figure 1 as shown, figure 1 Shown is an efficient and robust multi-sensor based SLAM coordination method, which includes:

[0043]Step S11, coordinating the synchronization of time stamps and relative positions among the sensors;

[0044] Among them, the full name of SLAM should be simultaneous localization and mapping, which is interpreted in Chinese as real-time positioning and map construction, or concurrent map building and positioning. Sensors include many types, for example, sensors such as radar and Kinect, wherein Kinect is a 3D somatosensory camera.

[0045] Under normal circumstances, each frame of observation information acquired by the sensor will have a timestamp to indicate the observation time of the frame of observation information. The timestamps of each sensor may be different, so the timestamps of these sensors need to be synchronized . The specific implementation method can be as follows: set the time of all sensors to a unified time to ensur...

Embodiment 2

[0056] See figure 2 as shown, figure 2 What is shown is another efficient and robust multi-sensor-based SLAM coordination method. The scheme provided in this embodiment mainly introduces the situation that there are at least two sensors, and all sensors use the feature point matching algorithm to calculate the position posture program, the method includes:

[0057] Step S21, coordinating the synchronization of time stamps and relative positions among the sensors;

[0058] Among them, the full name of SLAM should be simultaneous localization and mapping, which is interpreted in Chinese as real-time positioning and map construction, or concurrent map building and positioning.

[0059] Under normal circumstances, each frame of observation information acquired by the sensor will have a timestamp to indicate the observation time of the frame of observation information. The timestamps of each sensor may be different, so the timestamps of these sensors need to be synchronized . ...

Embodiment 3

[0075] See image 3 as shown, image 3What is shown is another efficient and robust multi-sensor-based SLAM coordination method. The solution provided in this embodiment mainly introduces the situation where there are at least two sensors, and all sensors use the scan matching algorithm to calculate the pose scheme, which includes:

[0076] Step S31, coordinating the synchronization of time stamps and relative positions among the sensors;

[0077] Among them, the full name of SLAM should be simultaneous localization and mapping, which is interpreted in Chinese as real-time positioning and map construction, or concurrent map building and positioning.

[0078] Under normal circumstances, each frame of observation information acquired by the sensor will have a timestamp to indicate the observation time of the frame of observation information. The timestamps of each sensor may be different, so the timestamps of these sensors need to be synchronized . The specific implementatio...

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Abstract

The invention discloses an efficient robust SLAM coordinating method and system based on multiple sensors. The method comprises the steps of coordinating synchronization of the timestamps and relative positions of the multiple sensors, respectively acquiring the space coordinate point sets of the last frame and the current frame of robot surroundings through the multiple sensors, the pose position of a robot and weight corresponding to the pose position are calculated according to the space coordinate point set of the last frame and the space coordinate point set of the current frame and carrying out weighted averaging on pose positions corresponding to all the sensors according to weights to obtain the real pose position of the robot. The sensors can do coordination work, and due to the fact that the viewing angle ranges of the sensors are wide, dead zones can be reduced to improve the obstacle detection capacity. In addition, more environmental data can be acquired through the sensors, therefore, the condition of data collecting failures can be greatly reduced, the success rate of SLAM can be improved through the strategy that the sensors do the coordination work, and the speed of successfully collecting the data by the robot is improved so that locating efficiency can be improved.

Description

technical field [0001] The present invention relates to the field of communication technology, and more specifically, relates to an efficient and robust multi-sensor-based SLAM coordination method and system. Background technique [0002] Robots are usually equipped with sensors for real-time positioning and map construction, such as sensors such as 2D lasers or 3D somatosensory cameras Kinect. Existing robots are only provided with a single sensor, so that real-time positioning and map construction of the robot can be realized through a single matching strategy, for example, only a laser sensor or 3DKinect is provided. [0003] During the research and practice of the prior art, the inventors of the present invention have found that the prior art has the following problems: [0004] Since the environmental data that can be obtained through a single sensor is small, and the blind spots are extremely large, even in a relatively regular indoor environment, data collection fail...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/02
Inventor 张贺李南君刘国良
Owner LENOVO (BEIJING) LTD