Method for constructing multi-mode environmental map in three-dimensional environment

A technology of environmental maps and construction methods, applied in structured data retrieval, geographic information databases, instruments, etc., can solve the problems of insufficient compactness of expression, complex calculation of mixed maps, and occupation of memory resources, etc., and achieve the effect of easy expression

Active Publication Date: 2017-04-26
ZHEJIANG UNIV
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Problems solved by technology

Metric maps can be accurately used for navigation, but the expression is not compact enough, which will occupy a large amount of memory resources of the co...

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  • Method for constructing multi-mode environmental map in three-dimensional environment
  • Method for constructing multi-mode environmental map in three-dimensional environment
  • Method for constructing multi-mode environmental map in three-dimensional environment

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Embodiment Construction

[0041] In order to better understand the technical solution of the present invention, further description will be made below in conjunction with the accompanying drawings. A method for constructing a multimodal environment map in a three-dimensional environment, comprising the following steps:

[0042] Step 1. The unmanned vehicle is in the automatic operation mode of randomly exploring the environment. The binocular camera of the unmanned vehicle collects environmental images and establishes a sparse visual feature map. The reference coordinate system of the map is called the feature map coordinate system, and the origin of the coordinates is the unmanned The center of the camera when the car is started, the front is the positive direction of the z-axis, and the right is the positive direction of the x-axis, and the data of the feature map is stored in the local disk of the on-board computer in the form of a binary file.

[0043] In order to make the unmanned vehicle collect ...

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Abstract

Disclosed is a method for constructing a multi-mode environmental map in a three-dimensional environment. An unmanned vehicle is operated for many times in a mapping pattern, and different key frame coordinate sequences are obtained during each operation. Geographical proximity between different key frame coordinates is calculated on the basis of a Euclidean distance so as to identify cross joints of key frame sequences during different operations, these cross joints serve as nodes of a topological map, and multiple trajectories are connected together to form a whole map. By executing route planning based on a heuristic map search algorithm on the topological map, a route cross joint sequence can be obtained, original dense key frame coordinates can be obtained by indexing through the route cross joint sequence, and these coordinates serving as trajectory planning results are input to an unmanned vehicle control execution system, so as to realize position tracking of the unmanned vehicle.

Description

technical field [0001] The invention belongs to the technical field of autonomous navigation of mobile robots, in particular to a multi-modal environment map construction method for a three-dimensional environment. Background technique [0002] Map construction technology is the core function of the mobile robot navigation system. Map construction is for subsequent reuse. If only a single job is performed, the significance of map construction is not obvious. A map is a description of the environment and a modeling behavior, and its significance is to provide the necessary description for the robot's behavioral decision-making. Traditional map forms include metric maps, topological maps and hybrid maps. Metric maps can be accurately used for navigation, but the expression is not compact enough, which will occupy a large amount of memory resources of the computer system. Topological maps are simple in form and easy to store, but they are not enough for navigation. The calcul...

Claims

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Application Information

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IPC IPC(8): G06F17/30G01C21/34
CPCG01C21/3415G06F16/29
Inventor 刘勇张高明张涛
Owner ZHEJIANG UNIV
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