Robot Navigation Method Oriented to Virtual Image

A technology of virtual images and navigation methods, applied in the field of navigation, can solve problems such as limiting the range of robot navigation, and achieve the effects of small storage data, low memory consumption, and fast calculation speed

Active Publication Date: 2019-01-29
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, in practical applications, it can contain a limited field of view, thus limiting the scope of robot navigation

Method used

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  • Robot Navigation Method Oriented to Virtual Image
  • Robot Navigation Method Oriented to Virtual Image
  • Robot Navigation Method Oriented to Virtual Image

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Experimental program
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Embodiment Construction

[0020] The technical solution of the present invention will be further described in detail below in conjunction with the accompanying drawings, but the protection scope of the present invention is not limited to the following description.

[0021] like figure 1 As shown, the virtual image-oriented robot navigation method includes:

[0022] Step 1. Acquire a first image and a second image, and calculate a first two-way flow field between the first image and the second image.

[0023] Step 2: Using the first bidirectional flow field to generate a first virtual perspective image corresponding to the first image and a second virtual perspective image corresponding to the second image.

[0024] like figure 2 As shown in , there is also a flow field correspondence between the virtual perspective image and the first image and the second image. Set the image represented by the virtual viewing angle to appear as figure 2 As shown, it can be considered that there is a third image ...

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Abstract

The invention discloses a virtual image-oriented robot navigation method, comprising: calculating a first two-way flow field between a first image and a second image; using the first two-way flow field to generate a first virtual perspective image and a second virtual perspective image; calculate the second two-way flow field between the first virtual perspective image and the second virtual perspective image, thereby calculating the depth information of the first virtual perspective image and the second virtual perspective image; Perform image close-up with the second virtual perspective image, fuse the obtained first virtual close-up image and the second virtual close-up image to obtain a virtual image; obtain a panoramic image of the surrounding environment of the robot, match the virtual image with the panoramic image, and perform azimuth positioning ; Fit the distance calculation function of the robot according to the corresponding relationship between the image feature point ratio and the distance, and output the moving distance of the robot. The invention stores relatively small data, consumes less memory and has fast calculation speed.

Description

technical field [0001] The invention relates to the technical field of navigation, in particular to a virtual image-oriented robot navigation method. Background technique [0002] Robot (Robot), as a mechanical device, can automatically perform specified work, and at the same time it is a new type of substitute for human activities. From the first industrial revolution to the present, science and technology have been advancing step by step, and the development of robot technology has become more and more popular. Similarly, human beings have an increasing demand for robots, and various types of robots have emerged as the times require. From the expansion of industrial production, nuclear energy, medicine, biochemistry, household cleaning, deep sea development, medical rehabilitation, Mars exploration, etc., robots appear in every corner of human society. In many applications, robots are gradually liberated from fixed machinery, and the demand for navigation technology is im...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C11/00G01C11/06
CPCG01C11/00G01C11/06
Inventor 程洪王泽罗骜杨路
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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