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Robot indoor positioning and navigation method based on 3D camera

A navigation method and indoor positioning technology, applied in the field of indoor positioning and navigation of robots based on 3D cameras, can solve the problems of high cost, poor accuracy, and high requirements for cameras, and achieve the effects of low difficulty, high accuracy, and cost reduction

Pending Publication Date: 2017-02-01
深圳市三宝创新机器人有限公司
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AI Technical Summary

Problems solved by technology

For the binocular vision positioning method, its cost is high, the stereo matching algorithm is difficult, and the amount of calculation is large; for the monocular vision positioning, it is affected by the camera parameters, the accuracy is poor, and the camera requirements are high

Method used

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  • Robot indoor positioning and navigation method based on 3D camera
  • Robot indoor positioning and navigation method based on 3D camera
  • Robot indoor positioning and navigation method based on 3D camera

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Embodiment Construction

[0013] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0014] see Figure 1~5 , in an embodiment of the present invention, a 3D camera-based indoor positioning and navigation method for a robot, where red, green and blue LED lights are placed on the ceiling, and a rectangular coordinate system is established with a rectangular point on the ceiling as the coordinate origin, the robot The 3D camera scans the ceiling to obtain image information and analyzes and processes it to realize global positioning and navigatio...

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Abstract

The invention discloses a robot indoor positioning and navigation method based on the 3D camera. The robot indoor positioning and navigation method includes arranging red, green and blue LED lights on the ceiling, and using the right angle of the ceiling as the coordinate origin, establishing the rectangular coordinate system, and using the robot through the 3D camera to scan the ceiling to obtain image information and analyzing and processing to achieve global positioning and navigation. The invention relates to a monocular vision positioning system in which the home robot obtains the depth information of the LED lights through the 3D camera, and finally obtains the global positioning and navigation of the robot through a series of analysis and calculation. Compared with the ordinary monocular vision positioning system, the system is provided with the 3D camera, and camera parameters are not easily affected but help the system faster robot positioning. In contrast to binocular vision positioning, costs are reduced, the relative algorithm is difficult, cumbersome calculation is omitted, and accuracy is higher.

Description

technical field [0001] The invention relates to a robot, in particular to an indoor positioning and navigation method for a robot based on a 3D camera. Background technique [0002] With the deepening of research on robots, enhancing the intelligence of human-computer interaction is one of the hot topics currently discussed. In order to realize human-computer interaction, the robot needs to move autonomously, and the robot usually uses the positioning system for global positioning and navigation to achieve the function of autonomous movement. There are many ways to achieve indoor global positioning and navigation. Here we choose to let the robot achieve global positioning and navigation through visual positioning. The visual positioning methods of home robots can be divided into monocular visual positioning and binocular visual positioning. At present, the visual positioning methods of home robots can be divided into monocular visual positioning and binocular visual positi...

Claims

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/206
Inventor 林绿德庄永军徐东群文康益
Owner 深圳市三宝创新机器人有限公司
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