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Method for estimating the angular deviation of a mobile element relative to a reference direction

A moving element, reference direction technology, applied in the field of navigation field, can solve the problem of not allowing accurate route estimation to minimize the cost of implementation

Inactive Publication Date: 2016-02-10
ALDEBARAN ROBOTICS SA +1
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] Thus, it appears as if robot designers do not have available techniques that allow them to obtain accurate path estimates while minimizing implementation costs

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  • Method for estimating the angular deviation of a mobile element relative to a reference direction
  • Method for estimating the angular deviation of a mobile element relative to a reference direction
  • Method for estimating the angular deviation of a mobile element relative to a reference direction

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Embodiment Construction

[0036] In this description, the invention is described using an example of implementation on a robot, and more particularly on a humanoid robot. However, the invention is applicable to any moving element. In particular, the invention is applicable to any type of vehicle, ship or aircraft.

[0037] The subject of the invention is in particular a method for estimating the angular deviation of a robot relative to a reference orientation. This relative angular deviation is defined as the angle between the reference direction and the orientation of the robot at the moment of estimation. The orientation of the robot at the estimated instant is also referred to as the current orientation. As an example, the value of this angle is determined clockwise from the reference direction.

[0038] Advantageously, the estimation of the relative angular deviation of the robot can be used to precisely control its movement, in particular to perform a rotation around a fixed point at a given an...

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Abstract

The invention concerns a method for estimating the angular deviation of a mobile element relative to a reference direction, the method comprising the following steps: acquiring a reference image (101) representative of a reference direction of the mobile element; acquiring a current image (102) representative of the current direction of the mobile element; identifying points of interest in the reference image and in the current image (103); determining at least two pairs of points of interest (104), one pair consisting of a point of interest of the current image and a point of interest corresponding to same in the reference image; determining the angular deviation (105) between the current direction and the reference direction of the mobile element by using the at least two pairs of points identified in the previous step.

Description

technical field [0001] The invention relates to a method for estimating the angular deviation of a moving element with respect to a reference direction, and has particular application in navigation fields. Background technique [0002] In order to estimate the course of a mobile element such as a robot, a first technique consists in using its odometry, that is to say the measurement of its movement. For that purpose, measurements from various on-board sensors can be used. So for a wheeled robot it is possible to use a rotary encoder type odometer located in the wheel. One of the disadvantages of this technique is that it produces estimates that drift significantly over time. [0003] A second technique exists that consists in implementing metrological sensors, such as laser telemetry or 3D cameras, in order to obtain the orientation angle of a person relative to a map representing the navigation environment. Methods relying on this technique are denoted by the acronym SLA...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00
CPCG06T2207/10016G06T2207/30241G06T7/74G06T7/20
Inventor E·维贝尔F·迪里耶A·德拉福尔泰利B·斯特乌克斯S·博纳贝尔
Owner ALDEBARAN ROBOTICS SA
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