Robot positioning method and system with monocular vision and encoder information fused

A technology of robot positioning and monocular vision, which is applied in the directions of instruments, image data processing, complex mathematical operations, etc., can solve the problems of increased complexity of pose graph operations, unfavorable real-time calculation of embedded devices of robots, etc., and achieve optimal positioning results , Eliminate the effect of cumulative error

Active Publication Date: 2017-12-26
INST OF COMPUTING TECHNOLOGY - CHINESE ACAD OF SCI
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Problems solved by technology

However, the computational complexity of the pose graph will increase as the number of nodes

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  • Robot positioning method and system with monocular vision and encoder information fused
  • Robot positioning method and system with monocular vision and encoder information fused
  • Robot positioning method and system with monocular vision and encoder information fused

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[0028] In order to make the above-mentioned features and effects of the present invention more clear and understandable, the following specific examples are given together with the accompanying drawings for detailed description as follows.

[0029] as attached figure 1 A schematic flow chart of the present invention is shown. First, the positioning information calculated by the encoder and the monocular vision module is used to solve the external parameter matrix between the camera coordinate system and the robot coordinate system and the initial value of the scale factor. After the calculation is completed, the sliding window pose graph is constructed using the initial value and the positioning information of each module, and the optimized external parameter matrix, scale factor, and positioning information are obtained by solving the pose graph through nonlinear least squares.

[0030] attached figure 2 Among them, 21 is the world coordinate system, 22 is the robot coordin...

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Abstract

The invention relates to a robot positioning method and a system with monocular vision and encoder data fused, which comprise real-time calibration on external parameters and visual scale factors based on a sliding window method and pose loose coupling fusion based on the sliding window method. According to the real-time calibration on the external parameters and the visual scale factors based on the sliding window method, the monocular vision and the pose information outputted by the encoder are used to build a sliding window pose diagram, the relative pose between a vision sensor and the encoder is automatically estimated, and the scale factor for the monocular vision is calculated. The built sliding window pose diagram is used to fuse the monocular vision positioning information and the encoder positioning information, problems of poor precision of long-time positioning of the encoder and poor robustness of vision positioning are overcome, the method based on the sliding window pose diagram can effectively ensure the calculation amount of the fusion method is not added along with time, and the algorithm is thus applicable to mobile robot embedded equipment.

Description

technical field [0001] The invention relates to the technical field of mobile robot positioning, in particular to a robot positioning method and system that integrates monocular vision and encoder information. Background technique [0002] With the continuous development of robot technology, people have more and more requirements for service robots to be able to locate and navigate autonomously in the natural environment. Using the encoder to calculate the odometer according to the robot kinematics model is a commonly used method in the field of robotics, but there are problems that the cumulative error cannot be eliminated and the positioning accuracy is poor for a long time. The use of monocular vision for positioning has developed rapidly recently, and visual odometry calculation methods such as svo (semi direct visual odometry) and dso (direct sparse odometry) have appeared one after another. It is characterized by small cumulative error and high positioning accuracy, b...

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Application Information

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IPC IPC(8): G06T7/70G06F17/12G06F17/16
CPCG06F17/12G06F17/16G06T7/70
Inventor 韦伟李小娟
Owner INST OF COMPUTING TECHNOLOGY - CHINESE ACAD OF SCI
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