Mobile robot SLAM method based on image marker identification

A mobile robot, robot technology, applied in the field of robotics, can solve problems such as the limited perception ability of robots

Active Publication Date: 2014-09-24
北京国电瑞源科技发展有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

In this way, if a camera is mounted on the robot to capture the environment, it can capture ric...

Method used

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  • Mobile robot SLAM method based on image marker identification
  • Mobile robot SLAM method based on image marker identification
  • Mobile robot SLAM method based on image marker identification

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Embodiment Construction

[0061] Describe the present invention below in conjunction with specific embodiment:

[0062] attached figure 1 The general flow of the robot SLAM method realized by the present invention is shown. The figure contains all the steps of the robot's SLAM process. The purpose of the present invention is to enable the robot to obtain better SLAM results. The marker measurement data is obtained by processing the images acquired by the camera, and the observation data of the ideal Jacobian model is obtained by the airborne high-precision inertial sensor. The model parameter calculation and computer image processing involved in the entire SLAM process are realized by the program. The resulting map is represented by a series of "waymark" point coordinates recorded.

[0063] The following are the specific implementation steps:

[0064] Step 1: Time update of robot state parameters

[0065] The state vector of the robot at the kth moment in the motion process is x k =(x k ,m) T ....

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Abstract

The invention provides a mobile robot SLAM method based on image marker identification. The method adopts an EKF-SLAM model to carry out time update of the robot state parameters and measurement update based on the marker identification. With the method, a large quantity of information can be obtained from the environment, thereby enabling the robot to construct high-precision environmental maps. Compared with existing methods, the mobile robot SLAM method is more accurate in environmental space structure understanding, stronger in anti-interference capability, and higher in accuracy of the constructed maps.

Description

technical field [0001] The present invention relates to the field of robotics, in particular, uses the extended Kalman filter-based synchronous localization and map construction (EKF-SLAM) method combined with computer image technology to realize the robot's exploration of the environment and construct the environment map. Background technique [0002] The concept of Simultaneous Localization and Mapping (SLAM for short) was first proposed by Smith, Self and Cheeseman in 1988. This method describes the situation in which the robot starts from an unknown location in an unknown environment and then explores the unknown environment: the robot repeatedly observes the environment during the movement, and then locates its own position and posture according to the environmental characteristics perceived by the sensor, and then according to its own position. Build maps incrementally. This brings up two goals that SLAM encompasses: simultaneous localization and map building. Among ...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0274G05D1/0234
Inventor 布树辉何毕刘贞报
Owner 北京国电瑞源科技发展有限公司
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