Wearable positioning and path guidance method based on binocular camera in outdoor working environment

Abstract

The invention discloses a wearable positioning and path guidance method based on a binocular camera under an outdoor operating environment. The wearable positioning and path guidance method comprises the following steps: 1) letting an operator perform environmental exploration, traversing the whole operation site environment along an operation path and positioning by utilizing a binocular vision odometer and a GPS as well as IMU data, and meanwhile creating an operating environment overview map; 2) in the processes of real-time positioning and path guidance, performing global metric positioning by utilizing the binocular vision odometer and topological positioning by utilizing closed-loop detection at the same time; 3) when a loop is judged to be closed, calculating position deviation by utilizing scene features, performing deviation correction on a current global position and completing sample base updating; 4) performing operation task path planning and operation path guidance prompt by utilizing a topological overview map and real-time positioning results, and pushing information to a user. A reliable and real-time operation path guidance and positioning function is provided aiming at a wearable operation auxiliary system for equipment routing inspection, operation and maintenance and other class-A tasks under the outdoor environment.

Description

technical field [0001] The invention relates to a wearable positioning and path guidance method based on a binocular camera in an outdoor working environment, and belongs to a wearable computing technology. Background technique [0002] The use of wearable systems for equipment inspection and other application fields is the latest technology at home and abroad. It can assist workers who are not familiar with the working environment to carry out equipment inspection operations in accordance with task regulations and requirements, improve their work efficiency, and reduce their workload. burden. However, most of the current wearable devices and assistive technologies are concentrated in service areas such as blind guides, and most of them use conventional sensors such as ultrasound and infrared to simply obtain environmental information, only provide simple obstacle avoidance functions, and do not have industrial equipment. The most needed point-to-point route guidance functi...

AI Technical Summary

Problems solved by technology

[0010] Purpose of the invention: to solve the problem of mapping in the outdoor working environment and the problem of positioning and global path guidance in the outdoor working environment, and has a very good guiding role for users who are not familiar with the working environment

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