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Mobile robot three-dimensional mapping and obstacle avoidance method based on space bag of words model

A mobile robot and bag-of-words model technology, applied in two-dimensional position/channel control, etc., to achieve the effect of reducing memory footprint, reducing cost, and improving accuracy

Active Publication Date: 2016-08-10
SOUTHEAST UNIV
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Problems solved by technology

In general, previous methods rarely involve the use of 3D density maps and point cloud data collected by Kinect sensors for real-time robot positioning and navigation control.

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  • Mobile robot three-dimensional mapping and obstacle avoidance method based on space bag of words model
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  • Mobile robot three-dimensional mapping and obstacle avoidance method based on space bag of words model

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Embodiment Construction

[0029] Below in conjunction with accompanying drawing and specific embodiment, further illustrate the present invention, should be understood that these examples are only for illustrating the present invention and are not intended to limit the scope of the present invention, after having read the present invention, those skilled in the art will understand various aspects of the present invention All modifications of the valence form fall within the scope defined by the appended claims of the present application.

[0030] A three-dimensional map creation and obstacle avoidance navigation method for a mobile robot based on a spatial bag-of-words model, comprising the following steps:

[0031] Step 1. Collect Kinect sensor data during the robot environment exploration process, and use the SDBoW2 model that integrates spatial relationships to describe the scene image features.

[0032] In the step 1, the feature of the scene image is described by the SDBoW2 model fused with the sp...

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Abstract

The invention discloses a mobile robot three-dimensional mapping and obstacle avoidance method based on a space bag of words model. The method comprises following steps: 1) collecting Kinect sensor data, and using a space bag of words model which fuses spatial relationships to describe scene image features 2) describing robot three-dimensional SLAM by means of the SDBoW2 model of the scene image to realize closed loop detection, three-dimensional point cloud registration, and graph structure optimization and therefore creating a global environmental three-dimensional point cloud density map; 3) the robot using the created global three-dimensional map and the Kinect sensor information to perform indoor real-time obstacle avoidance guiding. The method is aimed at low cost mobile robots without speedometers or laser distance measuring sensors; reliable real-time three-dimensional map creation and obstacle avoidance can be realized depending only on Kinect sensors; the method can be applied in long time mobile robot operation service at large area of indoor environment such as household places and office rooms, etc.

Description

technical field [0001] The invention relates to a three-dimensional map creation and obstacle avoidance navigation method for a mobile robot based on a spatial bag-of-words model, which belongs to a technology of visual navigation and environment modeling of an autonomous mobile robot. Background technique [0002] The Kinect sensor, which can simultaneously provide color image depth information (ie, RGB-D), has been initially applied in the field of mobile robots, such as gesture recognition, human-computer interaction, and point cloud reconstruction of 3D objects. The sensor is low in cost and can provide scene depth point clouds with color texture information, so it has significant application value in the field of robotics. After patent search and novelty search, Fei Junchun and others applied for China Invention Patent No. 201310613016.5, titled "An indoor mobile robot that generates 3D navigation maps based on Kinect". This patent discloses an indoor mobile robot that...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/02
Inventor 钱堃房芳陈愿徐俊高歌
Owner SOUTHEAST UNIV
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