Visual navigation method and device and robot

A visual navigation and parallax technology, which is applied in the field of visual positioning and navigation, can solve the problems of difficult control of processing speed, difficult control of errors, and large amount of data, and achieves the effect of easy control of processing speed, small amount of data, and improved accuracy.

Active Publication Date: 2015-08-26
CHINA ACAD OF TELECOMM TECH
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Problems solved by technology

[0004] At present, the existing vision methods are generally implemented based on binocular stereo cameras. This vision method based on binocular stereo cameras has high positioning accuracy. However, it also has many shortcomings. For example, calibration comparison Difficult, and the error is not easy to control. At the same time, because the images are collected by two cameras at the same time, it also leads to a large amount of data, it is difficult to control the processing speed, and the real-time performance is poor.

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  • Visual navigation method and device and robot
  • Visual navigation method and device and robot
  • Visual navigation method and device and robot

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Embodiment Construction

[0035] Exemplary embodiments of the present invention will be described below with reference to the accompanying drawings. In the interest of clarity and conciseness, not all features of an actual implementation are described in this specification. It should be understood, however, that in developing any such practical embodiment, many implementation-specific decisions must be made in order to achieve the developer's specific goals, such as meeting those constraints related to the system and business, and those Restrictions may vary from implementation to implementation. Moreover, it should also be understood that development work, while potentially complex and time-consuming, would at least be a routine undertaking for those skilled in the art having the benefit of this disclosure.

[0036] Here, it should also be noted that, in order to avoid obscuring the present invention due to unnecessary details, only the device structure and / or processing steps closely related to the ...

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Abstract

A visual navigation method and device. The visual navigation method comprises: obtaining, on the basis of a captured environmental image, multiple environmental subimages of the environmental image; performing region matching on the environmental subimages and determining a parallax between at least two environmental subimages; and determining a coordinate of an object in the environmental image according to the determined parallax and performing navigation according to the coordinate. By capturing an environmental image using a camera, obtaining multiple environmental subimages by means of a micro lens array on the basis of the environmental image, and performing stereo matching and three-dimensional reconstruction according to the environmental subimages, the function of visual navigation is achieved; both horizontal parallax information and vertical parallax information of an object can be obtained, so that accuracy of navigation is effectively improved.

Description

technical field [0001] The present invention relates to the technical field of visual positioning and navigation, in particular to a visual navigation method and device and a robot. Background technique [0002] Traditional robot positioning includes GPS, inertial navigation system, etc. Among them, GPS has a wide range of uses and high precision, but is greatly affected by the environment, while inertial navigation system can be completely autonomous and has high frequency, but has a large noise impact; GPS / inertial navigation system fusion Positioning is one of the most commonly used combined navigation and positioning methods in today's robot navigation, which can effectively use their respective advantages and learn from each other's strengths. However, in practical applications, in many cases, the GPS signal will be blocked and cannot be used, which will lead to a rapid decline in the overall positioning accuracy of the system. [0003] In order to solve the above prob...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C11/04G06V10/147G06V10/30
CPCG01C21/00Y10S901/01Y10S901/47G06T7/557G06V20/10G06V10/147G06V10/30G06V10/757G06T2207/10016G06T2207/20021
Inventor 张汝民刘迪军苏国彬
Owner CHINA ACAD OF TELECOMM TECH
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