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Positioning and map establishing method and system

A positioning module and pose technology, applied in the computer field, can solve the problems of difficult navigation and obstacle avoidance tasks, difficulty in relocation, consumption of huge resources, etc., to reduce the consumption of storage resources and computing resources, and achieve the effect of easy implementation.

Active Publication Date: 2018-02-09
SHANGHAI SLAMTEC
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] One purpose of this application is to provide a method and system for positioning and mapping, which solves the problems of difficult global relocation, difficult navigation and obstacle avoidance tasks, and huge resource consumption in traditional laser positioning and mapping systems

Method used

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  • Positioning and map establishing method and system
  • Positioning and map establishing method and system

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Embodiment Construction

[0045] The application will be described in further detail below in conjunction with the accompanying drawings.

[0046] In a typical configuration of the present application, the terminal, the device serving the network and the trusted party all include one or more processors (CPUs), input / output interfaces, network interfaces and memory.

[0047] Memory may include non-permanent storage in computer readable media, in the form of random access memory (RAM) and / or nonvolatile memory such as read only memory (ROM) or flash RAM. Memory is an example of computer readable media.

[0048] Computer-readable media, including both permanent and non-permanent, removable and non-removable media, can be implemented by any method or technology for storage of information. Information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random acce...

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Abstract

The invention aims at providing a positioning and map establishing method and system. A global optimum route from a starting point to a destination is determined in a grid map, determined according tomilemeter data and laser data, of a current environment to complete a navigation task of a mobile device; word bag data of a current image is extracted based on a re-positioning request, and key frames corresponding to historical word bag data having the similarity with the word bag data of the current image in a preset range is retrieved through a lexicographic tree; feature matching is performed based on the key frames to determine the posture and position of the current image in a world coordinate system, and the posture and position of the mobile device under world coordinates are determined according to the posture and position of the current image in the world coordinate system and the installing posture and position of an image sensor in the mobile device to complete re-positioning. Accordingly, the mobile device can perform map establishing, positioning and navigation tasks in an unknown environment, makes global re-positioning easy to achieve and can be used for navigation and obstacle avoidance tasks of mobile devices.

Description

technical field [0001] The present application relates to the field of computers, in particular to a method and system for positioning and mapping. Background technique [0002] With the rapid development of computer technology, microelectronics technology, network technology, etc., robot technology has also developed rapidly. In addition to the continuous improvement of the level of industrial robots, various advanced robot systems for service industries have also made great progress. Class mobile service robots are becoming more and more popular, such as mobile devices, shopping guide machines, automatic teller machines and so on. [0003] At present, there are two main ways to realize the positioning and mapping system of mobile devices: [0004] First, the 2D positioning and mapping system based on lidar sensors. Most of these systems use grid maps as map storage methods, but they have a relatively large disadvantage and difficulty, and global relocation is difficult. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 洪东升白静李宇翔陈士凯
Owner SHANGHAI SLAMTEC
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