Supercharge Your Innovation With Domain-Expert AI Agents!

Robot positioning method fusing RGBD depth sensor and encoder

A depth sensor, robot positioning technology, applied in the direction of instruments, surveying and mapping and navigation, measuring devices, etc., can solve the problems of poor positioning accuracy or robustness, achieve high-precision positioning, easy to popularize and apply, high positioning accuracy and robustness Effect

Active Publication Date: 2017-05-31
UNIV OF ELECTRONICS SCI & TECH OF CHINA
View PDF9 Cites 11 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] As far as the current positioning technology is concerned, whether it is traditional positioning or visual positioning, the positioning accuracy or robustness is relatively poor, and it is difficult to use in the actual environment

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Robot positioning method fusing RGBD depth sensor and encoder
  • Robot positioning method fusing RGBD depth sensor and encoder
  • Robot positioning method fusing RGBD depth sensor and encoder

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0025] figure 1 It is a flow chart of a specific embodiment of the robot positioning method that integrates RGBD depth sensors and encoders in the present invention. Such as figure 1 As shown, the specific steps of the robot positioning method of the fusion of RGBD depth sensor and encoder in the present invention include:

[0026] S101: Establish a landmark database:

[0027] In the robot movement area, determine the starting position of the robot, use the starting position as the origin to establish a world coordinate system, and then select or configure road signs at the starting point and key positions. Collect images of road signs when moving near them, and record the corresponding position coordinates T m , m=1, 2, . The landmark database is used to provide reference for robot vision positioning.

[0028] In order to make the information in the landmark database more reliable and effective, it is best to select the location of the landmark according to the following...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a robot positioning method fusing an RGBD depth sensor and an encoder. The method comprises the following steps: firstly, establishing a guidepost database in a robot moving region, wherein the guidepost database comprises a guidepost image and corresponding robot position coordinates; in the robot moving process, positioning a robot position matrix Twe(t) based on the encoder; and meanwhile, performing positioning based on the RGBD depth sensor; if performing positioning based on the RGBD depth sensor successively, calculating a transformational matrix according to the robot position matrix Twe(t) positioned based on the encoder and the position matrix Twv(t) positioned based on the RGBD depth sensor; setting the robot current position matrix as Twv(t); and if not positioning successfully, correcting the positioning error on Twe(t) through the transformational matrix to obtain the current position matrix. According to the invention, the positioning error of the encoder is corrected based on the GBD depth sensor, so that the positioning precision and the robustness of the robot are improved.

Description

technical field [0001] The invention belongs to the technical field of robot positioning, and more specifically relates to a robot positioning method integrating RGBD depth sensors and encoders. Background technique [0002] Robot positioning technology is a key technology in the field of robot navigation. According to the different sensors used, positioning technology can be divided into two categories, one is traditional positioning, such as using encoders, laser radar, WiFi, Bluetooth and other positioning methods, and the other The first is visual positioning, such as monocular vision positioning, binocular vision positioning, and RGBD camera-based positioning. [0003] The traditional positioning algorithm is relatively mature at present, and the positioning algorithm based on the encoder is a kind of autonomous positioning, and the positioning accuracy is relatively high on a relatively flat ground. Once the robot slides, this positioning will have a large error, and t...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/206
Inventor 程洪陈诗南郑亚莉郝家胜
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
Features
  • R&D
  • Intellectual Property
  • Life Sciences
  • Materials
  • Tech Scout
Why Patsnap Eureka
  • Unparalleled Data Quality
  • Higher Quality Content
  • 60% Fewer Hallucinations
Social media
Patsnap Eureka Blog
Learn More

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2025 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com