Map building method and robot control system

A map construction and map technology, applied in the computer field, can solve the problems of expensive acquisition of information, large volume and weight, and high price of laser scanners, and achieve the effect of flexible update methods, easy map construction, and realization of map construction.

Active Publication Date: 2017-09-15
ACADEMY OF ARMORED FORCES ENG PLA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, laser scanners are cumbersome, expensive, and less informative. In addition, ICP’s shortcomings include a reliance on good initialization estimates to prevent local minima and a lack of overall matching quality measures.
[000

Method used

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  • Map building method and robot control system
  • Map building method and robot control system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0071] An embodiment of the present invention provides a map construction method, such as figure 1 As shown, the method includes:

[0072] 11. Extract the feature points of the current frame;

[0073] 12. Obtain the feature points of the reference frame, and obtain the current pose according to the feature points of the current frame and the feature points of the reference frame;

[0074] 13. There is a cumulative error in the pose estimation obtained by inter-frame registration, and the feature points of the key frames in the local map are projected to the current frame;

[0075] 14. When the previous frame meets the condition for adding a key frame, insert a key frame into the partial map.

[0076] Optionally, said extracting the feature points of the current frame includes:

[0077] Adopt ORB (Oriented FAST and Rotated BRIEF) algorithm to detect feature point and calculate the direction of feature point to described current frame, compare and obtain described feature poi...

Embodiment 2

[0128] An embodiment of the present invention provides a robot control system, which can apply the method provided in Embodiment 1 above. Such as image 3 As shown, the system includes: sensor 21, computer 22, control board 23, robot 24;

[0129] The sensor 21 acquires a distance parameter;

[0130] The control panel 23 is used to control the robot;

[0131] The computer 22 is used to perform:

[0132] Extract the feature points of the current frame;

[0133] Obtaining the feature points of the reference frame, and obtaining the current pose according to the feature points of the current frame and the feature points of the reference frame;

[0134] There is a cumulative error in the pose estimation obtained by inter-frame registration, and the feature points of the key frames in the local map are projected to the current frame;

[0135] When the previous frame meets the condition for adding a key frame, insert a key frame into the partial map.

[0136] Optionally, the co...

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Abstract

The embodiment of the invention discloses a map building method and a robot control system. Map building can be achieved more easily. The map building method comprises the steps that a feature point of a current frame is extracted; a feature point of a reference frame is obtained, and a current pose is obtained according to the feature point of the current frame and the feature point of the reference frame; a cumulative error existing is estimated by means of the pose obtained through frame-to-frame registration, and a feature point of a key frame in a local map is projected to the current frame; and when the current frame conforms to the condition of the newly-added key frame, the key frame is inserted into the local map.

Description

technical field [0001] The invention relates to the field of computers, in particular to a map construction method and a robot control system. Background technique [0002] In the field of mobile robots, SLAM (Simultaneous Localization And Mapping is a very basic and key issue, and it is one of the hottest research directions in the field of robotics. It has received extensive attention and research in the past 30 years. SLAM research field Scholars have proposed a large number of SLAM methods, including various sensors, optimization techniques, and map descriptions. Obtaining a map of the robot's workspace is a key issue in realizing positioning, obstacle avoidance, navigation, and autonomous tasks, especially when mobile robots Working in complex, dynamic environments, it is important to quickly generate and maintain a 3D map of the workspace using only on-board sensors. Laser scanners can provide accurate geometric measurements of the environment at high frequencies, and ...

Claims

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Application Information

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IPC IPC(8): B25J9/16G06T7/80
CPCB25J9/1602
Inventor 林辉灿王国胜卫恒秦澍祺梁冰
Owner ACADEMY OF ARMORED FORCES ENG PLA
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