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SLAM device integrating multiple vehicle-mounted sensors and control method of device

A vehicle-mounted sensor and multi-sensor technology, which is used in measurement devices, instruments, surveying and navigation, etc., can solve the problems affecting the accuracy of motion estimation, the effective range of depth values, positioning and mapping deviation, etc., to improve the effect and accuracy. performance, improved robustness and accuracy, improved accuracy

Inactive Publication Date: 2016-07-20
SUN YAT SEN UNIV
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Problems solved by technology

[0006] However, RGB-D sensors also have the problem that the effective range of available depth values ​​is small. For some open and large scenes, there will be problems with missing depth values ​​or missing feature points, which will affect the accuracy of motion estimation and even cause positioning problems. There is a serious deviation from the construction map

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  • SLAM device integrating multiple vehicle-mounted sensors and control method of device
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  • SLAM device integrating multiple vehicle-mounted sensors and control method of device

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Embodiment Construction

[0043]The accompanying drawings are for illustrative purposes only, and should not be construed as limitations on this patent; in order to better illustrate the present embodiment, some parts of the accompanying drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art It is understandable to the artisan that certain well-known structures and descriptions thereof may be omitted from the drawings. The positional relationships described in the drawings are only for exemplary illustration, and should not be construed as a limitation on the present patent.

[0044] like figure 1 As shown, a SLAM device integrating on-board multi-sensors includes on-board sensors, on-board encoders, on-board inertial measurement units, on-board controllers, and a host computer; the on-board encoders and on-board inertial measurement units are connected to the on-board controller. , the on-board controller is connected with the h...

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Abstract

The invention relates to the technical field of simultaneous localization and mapping methods of three-wheel omnidirectional mobile robots integrating multiple vehicle-mounted sensors, and particularly relates to an SLAM device integrating the multiple vehicle-mounted sensors and a control method of the device.The SLAM device integrating the multiple vehicle-mounted sensors comprises the vehicle-mounted sensors, a vehicle-mounted encoder, a vehicle-mounted inertia measurement unit, a vehicle-mounted controller and an upper computer; the vehicle-mounted encoder and the vehicle-mounted inertia measurement unit are connected with the vehicle-mounted controller, and the vehicle-mounted controller is connected with the upper computer.The localization and mapping effects of the robots can be improved, the problem of localization and mapping errors brought by depth value deletion or characteristic point scarcity which are generated when SLAM is conducted only by relying on an RGB-D sensor is solved, and therefore the robustness and accuracy of SLAM are improved.

Description

technical field [0001] The invention relates to the technical field of synchronous positioning and mapping method of a three-wheeled omnidirectional mobile robot fused with on-board multi-sensors, and more particularly, to a SLAM device fused with on-board multi-sensors and a control method thereof. Background technique [0002] The omnidirectional mobile robot can realize movement in any direction, and can be widely used in military, industrial, household services and other fields. Simultaneous localization and map creation (SLAM, Simultaneous Localization And Mapping) of mobile robots is a hot research problem in the field of robotics. It is the premise and foundation of self-service task planning and path planning for mobile robots. The SLAM problem of robots, simply put, is that in an unknown environment, a mobile robot needs to build an environment map and locate itself on the map at the same time. This process is similar to a person walking into a completely unfamilia...

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Application Information

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IPC IPC(8): G01C21/00G01C21/16
CPCG01C21/005G01C21/165
Inventor 成慧吴依莹朱启源林倞
Owner SUN YAT SEN UNIV
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