A method and system for autonomous positioning and navigation of a robot
A technology of autonomous positioning and navigation method, applied in the direction of navigation calculation tools, etc., can solve the problems of complex equipment structure, high price, and low real-time path planning.
Active Publication Date: 2019-09-24
HUAZHONG UNIV OF SCI & TECH
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This solves the technical problems in the existing technology, such as complex equipment structure, expensive price, difficult operation, huge data volume, and low real-time path planning.
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[0097] like figure 2 Shown is a schematic flow chart of another robot autonomous positioning and navigation method disclosed in the embodiment of the present invention, from figure 2 It can be seen that the input RGB image, depth image and destination location RGB image data need to go through several steps such as indoor map construction, robot and target relocation, path planning, etc., and finally complete the indoor robot autonomous navigation task. Its specific implementation is as follows:
[0098] (1) Collect the RGB images and depth images obtained by the robot on the route of travel, wherein the route of travel is a closed route;
[0099] Robot A is in an indoor environment, and the robot is driven to move slowly in the environment. At the same time, the RGB-D camera on the robot is driven to capture all positions on the robot's path to obtain a series of RGB image data and depth image data. It is worth noting that because the robot needs to build an indoor enviro...
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The invention discloses an autonomous location and navigation method and an autonomous location and navigation system of a robot. The method comprises the following steps: acquiring the RGB image of the robot in the current position; carrying out characteristic point matching on the RGB image of the current position and an indoor three-dimensional point cloud map, and determining the current position of the robot in the indoor 3D point cloud map; carrying out characteristic point matching on a pre-stored RGB image of a destination and the indoor three-dimensional point cloud map, and determining the position of the destination in the indoor 3D point cloud map; and searching an optimal path from the current position to the destination position in the indoor 3D point cloud map, and driving the robot to run according to the optimal path. The method and the system have the advantages of completion of autonomous location and navigation through using a visual sensor, simple device structure, low cost, simplicity in operation, and high path planning real-time property, and can be used in the fields of unmanned driving and indoor location and navigation.
Description
technical field [0001] The invention belongs to the technical fields of computer vision and robot, and more specifically relates to a method and system for autonomous positioning and navigation of a robot. Background technique [0002] Autonomous localization and navigation of indoor robots is a relatively popular research field that has emerged in recent years. It mainly includes the following three parts: 1) reconstruction of indoor scene map and estimation of robot state; 2) relocation of robot and target object; 3) robot path planning. For the autonomous positioning and navigation of indoor robots, the main problem lies in the selection of sensors (that is, the acquisition of external information) and the positioning and navigation of robots (that is, the processing of external information). At present, the combination of laser radar or inertial measurement elements and visual sensors is used to complete this task, but the cost is relatively high. With the popularity o...
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IPC IPC(8): G01C21/20
Inventor 陶文兵熊雄郑龙玉
Owner HUAZHONG UNIV OF SCI & TECH