A positioning method and device based on a grid map
A grid map and positioning method technology, applied in geographic information databases, instruments, calculations, etc., can solve the problems of fine matching granularity, accuracy error, matching error, etc., to reduce positioning errors, reduce the probability of complete positioning failure, Robust effect
Active Publication Date: 2019-12-20
北京如布科技有限公司
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[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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[0067] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to illustrate the technical solutions of the present invention more clearly, and cannot be used to limit the protection scope of the present invention.
[0068] figure 1 Shows a schematic flow chart of a positioning method based on a grid map provided by this embodiment, including:
[0069] S101. Create a grid map, and calculate the location information and image information corresponding to each grid according to the location information and image information of each coordinate point in each grid;
[0070] Wherein, the image information is brightness information or grayscale information corresponding to an image acquired in real time during exercise.
[0071] The grid map is used to represent a three-dimensional map divided into multiple grids, for example, each grid corresponds to w×w (w can take 10-100 cm) o...
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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] The embodiment of the present invention relates to the technical field of smart terminals, in particular to a positioning method and device based on a grid map. Background technique [0002] In order to achieve the purpose of constructing 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 is to judge its own location through the constructed map. The creation and positioning of the map is considered to be the key to the realization of a 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 fir...
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IPC IPC(8): G06F16/29G06F16/583
CPCG06F16/29G06F16/583
Inventor 王奇权美香雷宇
Owner 北京如布科技有限公司