Slam method and Slam device based on prior information

A priori information and map technology, applied in the direction of measurement devices, radio wave reflection/re-radiation, special data processing applications, etc., can solve the problems of not considering features and feature constraints, structural information cannot be used, etc., to reduce The effect of cumulative error

Active Publication Date: 2018-01-19
STANDARD ROBOTS CO LTD
View PDF5 Cites 13 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The main disadvantage of this approach is that the constraints between features are not consid

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Slam method and Slam device based on prior information
  • Slam method and Slam device based on prior information
  • Slam method and Slam device based on prior information

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0048] In order to make those skilled in the art more clearly understand the technical problems, technical solutions and beneficial technical effects to be solved by the present invention, the present invention will be further elaborated below in conjunction with the accompanying drawings and embodiments.

[0049] Please refer to figure 1 , a Slam method based on prior information, said method comprising:

[0050] S100: Add an initial pose node, extract primary features from the initial radar observation, and mark key features, add feature nodes to the map, and calculate constraints and weights of feature nodes and initial pose nodes;

[0051] For the extraction of line segment and arc features, it is first necessary to correct the radar observation data according to the calibration model (such as polynomial), and if it is a radar that has been used for a long time, it is necessary to denoise the data. The scanning result of the radar for a flat surface or a surface with a c...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention provides a Slam method based on prior information. The method includes the steps of: 1) adding an initial pose node, extracting primary feature of initial radar observation, marking keyfeatures, adding a feature node to a map, and calculating the constraint and weight of the feature node and the initial pose node; 2) extending the map by means of observation, the prior information and the key features; 3) when the last frame of radar observation information is added to the map, performing global optimization to obtain a route and a feature map; 4) establishing a raster map of the environment on the basis of a Bayesian filter according to the route, which is obtained through the final optimization, of a movable robot and observation corresponding to every pose. The prior information is introduced through the expandable feature hierarchy, so that the method can adapt different environments and prior information in different types; besides the structural features, the key features are also considered, and the framework and size of the environment are further constrained by means of the extra constraint among the key features, thus reducing accumulated error.

Description

technical field [0001] The invention relates to the field of robot positioning, in particular to a Slam method and device based on prior information. Background technique [0002] In order to enable mobile robots to effectively perform tasks in complex environments, such as handling, rescue, cleaning, etc., the robot needs to have the ability of autonomous positioning. GPS cannot be used in indoor and other scenarios or the accuracy cannot meet the requirements; the odometer also has cumulative errors, so the traditional single sensor cannot determine the pose. Localization based on known maps is considered well-solved, but a priori Figure 1 Therefore, how to recognize the environment and construct a high-precision map when the robot pose cannot be determined is of great significance to the navigation of mobile robots. This problem has been a hot spot in the field of robotics in recent decades. It is called for SLAM. SLAM based on EKF or particle filter can locate and map...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G01C21/00G01S13/88G06F17/30
Inventor 王永锟杨成佳吕凤池
Owner STANDARD ROBOTS CO LTD
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap