Linear feature extraction method for indoor environment

A technology of linear features and extraction methods, applied in radio wave measurement systems, instruments, etc., can solve problems such as low algorithm efficiency and large randomness of point selection, and achieve the effect of improving accuracy

Active Publication Date: 2014-07-16
UNIV OF SCI & TECH OF CHINA
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Problems solved by technology

[0005] The invention solves the problems that the traditional algorithm has a large randomness in point selection in the straight line fitting p

Method used

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  • Linear feature extraction method for indoor environment
  • Linear feature extraction method for indoor environment
  • Linear feature extraction method for indoor environment

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Embodiment Construction

[0028] This example is implemented on the premise of the technical solution of the invention, and a detailed implementation scheme and process are given, but the scope of implementation of the present invention is not limited to the following examples.

[0029] This embodiment uses data collected by the robot Pioneer3-DX in an indoor environment, and implements linear extraction of environmental features in the Microsoft Visual Studio C++6.0 and matlab R2012a environment. In the experiment, 1200 sets of data collected by the robot are used, and the processing steps according to the present invention are as follows:

[0030] (1) Initialize N sampling points (x, y, r);

[0031] (2) Separate points with r<5000mm (the maximum test distance of the sonar sensor used in the present invention is 5000mm);

[0032] (3) Separate the data obtained by each sensor;

[0033] (4) According to the sensor arrangement of the robot Pioneer3-DX, combine the data of the sensors on the side of the robot acco...

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Abstract

The invention provides a linear feature extraction method for the indoor environment. The method comprises the steps of reasonably selecting effective data information, effectively extracting the local feature information of the data, and integrating the extracted local feature information to obtain the feature information under the global environment. According to the method, by means of feature distribution and extraction and later-stage integration of the data, a robot can extract features of the indoor environment by using a sonar sensor; in comparison with other feature extraction schemes based on the increment algorithm, the calculation amount is reduced, and the performance and the accuracy are improved.

Description

Technical field [0001] The invention relates to a method for extracting linear features of an indoor environment. The specific form is offline processing of environmental data collected by a robot to realize linear feature extraction of the indoor environment and provide technical support for topological positioning in the indoor environment of the robot. Background technique [0002] With the development of science and technology, mobile robots are widely used in different fields, and more robots have begun to enter ordinary households to serve daily life. However, the creation accuracy of the environment map restricts the further functional expansion of the robot. As a cheap and common distance sensor, sonar sensor is widely used in the process of mobile robot map creation. However, the accuracy of sonar sensors is relatively low, and effective information processing methods are required to reduce the impact of errors on the map creation results. [0003] Common feature extract...

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Application Information

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IPC IPC(8): G01S7/52
CPCG01S7/527G01S7/536
Inventor 陈宗海张旭王鹏孙建徐子伟
Owner UNIV OF SCI & TECH OF CHINA
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