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Point cloud based indoor dynamic scene SLAM (Simultaneous Location and Mapping) method and system

A technology of dynamic scenes and probability maps, applied in 2D image generation, image analysis, instruments, etc., can solve problems such as easy failure

Active Publication Date: 2016-10-26
深圳积木易搭科技技术有限公司
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Problems solved by technology

But when the texture is lacking in the scene, this method can easily fail

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  • Point cloud based indoor dynamic scene SLAM (Simultaneous Location and Mapping) method and system
  • Point cloud based indoor dynamic scene SLAM (Simultaneous Location and Mapping) method and system
  • Point cloud based indoor dynamic scene SLAM (Simultaneous Location and Mapping) method and system

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Embodiment Construction

[0093] During specific implementation, the process provided by the technical solution of the present invention can be automatically run by those skilled in the art using computer software technology. In order to better understand the technical solution of the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0094] See attached figure 1 , the embodiment of the present invention includes the following steps:

[0095] Step 1: First judge whether t=0, that is, whether the current laser scanning frame is the first frame, and if so, generate the probability map of the current frame and set the historical probability plot directly Then wait for the next frame, when t is not 0, go to step 2.

[0096] During specific implementation, the current laser scanning frame may be judged at the beginning of the process to determine whether t=0. If the current frame is the first frame, that i...

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Abstract

The invention provides a point cloud based indoor dynamic scene SLAM (Simultaneous Location and Mapping) method, which comprises the steps of carrying out multi-scale based laser frame and probability graph registration; updating easy layer of historical probability graph by combining information of the current frame, wherein the implementation mode of the step comprises the sub-steps of converting the current frame to a coordinate system where the historical probability graph is located according to a registration result so as to acquire a converted laser frame, carrying out probability graph generation so as to generate a corresponding probability graph, and updating the historical probability graph by combining the current frame probability graph and the historical probability graph so as to acquire a current historical probability graph; terminating iteration until all of the laser frames are processed, and acquiring a moving trajectory of a laser and a two-dimensional map of the indoor dynamic environment. The technical scheme provided by the invention can carry out composition on a dynamic scene quickly and accurately and accomplish self-locating.

Description

technical field [0001] The invention belongs to the technical field of robot SLAM, and in particular relates to a point cloud-based indoor dynamic scene SLAM method. Background technique [0002] It is imperative for a robot to know where it is before it can make its next decision. In outdoor scenarios, the Global Positioning System (GPS) can provide precise positioning and navigation services for robots. However, in indoor scenes, the GPS signal is very weak, and it is difficult for the robot to receive it. Therefore, in indoor scenes, the robot needs to perform self-positioning. This problem is defined as Simultaneous Localization and Mapping (SLAM) in the field of robotics, and it is the key to realize a truly fully autonomous mobile robot. [0003] The SLAM problem, as the most classic and basic problem in the field of robotics, has three main solutions depending on the sensors used: RGBD camera-based SLAM, vision-based SLAM, and laser point cloud-based SLAM. [0004...

Claims

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Application Information

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IPC IPC(8): G06T11/00G06T7/00
CPCG06T11/00
Inventor 姚剑李礼刘康谢仁平涂金戈
Owner 深圳积木易搭科技技术有限公司
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