Method and device for positioning based on grid map

Abstract

The embodiment of the invention discloses a method and a device for positioning based on a grid map. The method comprises the following steps of creating the grid map, and calculating the position information and image information corresponding to each grid according to the position information and image information of each coordinate point in each grid; obtaining the image of the current position, and respectively calculating the corresponding matching probability of the image and each grid according to the image information of the image and the image information of each grid in the grid map; respectively updating the matching probability in real time, and determining the target grid corresponding to the image according to the updated matching probability; according to the position information of the target grid, determining the current position. The method has the advantages that the positioning is performed on the basis of created grid map, a more accurate result can be quickly obtained, the probability of complete positioning failure is reduced, and the positioning error is reduced; the target grid is matched via the image information, so that the result with better robustness is obtained under the scenes of low texture, camera focal dispersing, movement fuzzy and the like.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of smart terminals, and in particular to a positioning method and device based on a grid map. Background technique [0002] In order to achieve the purpose of building a map, the robot needs to determine the position and posture at each moment, and determine the position coordinates of the surrounding environment based on the position and posture. This process of real-time positioning and mapping is called slam. The map created by slam is a description of the surrounding environment, and the positioning technology judges its own position through the constructed map. The creation and localization of the map is considered to be the key to realize the fully autonomous mobile robot, so the research is of great significance. [0003] At present, visual slam research is mainly divided into feature-based positioning and direct method-based positioning: feature-based positioning first perform...

AI Technical Summary

Problems solved by technology

[0005] Since the accuracy of feature extraction in existing methods has certain errors, there will also be deviations in pose estimation; or the matching granularity is too fine, which can easily cause matching errors. The embodiment of the present invention proposes a grid-based Map positioning method and device

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