Two-dimensional code and vision-inert combined navigation system and method for robot

Abstract

The invention provides a two-dimensional code and a vision-inert combined navigation system and method for a robot. A sealed assistant frame is arranged at the periphery of the two-dimensional code, and the sealed assistant frame and the two-dimensional code are both applied to vision navigation. The two-dimensional code is used in the vision-inert combined navigation system for the robot; the vision-inert combined navigation method for the robot comprises the following steps: paving a plurality of two-dimensional codes with the sealed assistant frames at the peripheries on a ground; when the robot walks forwards, taking images by using imaging equipment; acquiring the absolute position and the absolute direction angle of the imaging equipment, and acquiring the absolute coordinates of the two-dimensional codes, and the absolute position and the absolute direction angle of the imaging equipment; confirming the relative position of the robot relative to a present starting point and the relative direction angle of the robot relative to a present starting direction angle; acquiring the absolute position of the robot, and taking the absolute position as a next starting point; acquiring the absolute direction angle of the robot, and taking the absolute direction angle as a next starting direction angle.

Description

technical field

[0001] The invention relates to the field of navigation, in particular to a two-dimensional code and a visual-inertial combined navigation system and method for robots. Background technique

[0002] Visual-inertial integrated navigation has gradually become an important development direction and a promising navigation technology in the field of navigation due to its good complementarity and autonomy. Inertial navigation is an autonomous navigation system that does not rely on external information. It has the advantages of good real-time performance and strong anti-interference, but its accuracy error will cause cumulative drift error, and it is difficult to meet the positioning requirements in a long period of time. Therefore, in visual / inertial integrated navigation, visual navigation is used to assist positioning and correct the drift of inertial navigation, thereby providing a high-precision integrated positioning method. From the perspective of engineeri...

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