Simultaneous positioning of signs and map creation navigation method, device and system

Abstract

The invention provides a simultaneous positioning and map creation navigation method, device and system combined with identification. The method includes: setting a positioning object initialization area; adding a first identification in the positioning object initialization area, the first identification including pose information or identification information; making the positioning object start from the positioning object initialization area, and based on the The first mark determines the initial pose of the positioning object; adds a second mark on the travel path of the positioning object; and, when the positioning object passes through the second mark, updates based on the second mark The current pose of the positioning object. The simultaneous positioning and map creation navigation method, device and system combined with identification provided by the present invention can improve the positioning accuracy and robustness of the simultaneous positioning and map creation navigation system, and make it suitable for industrial environments requiring precise positioning.

Description

technical field [0001] The present invention generally relates to the field of automatic navigation, and more particularly relates to simultaneous positioning and map creation navigation methods, devices and systems combined with identification. Background technique [0002] A navigation scheme based on lidar or visual SLAM (Simultaneous localization and mapping: simultaneous positioning and map creation) can perform real-time positioning in a completely unknown scene and construct a 2D / 3D map of the scene. [0003] Specifically, for a completely unknown environment, the SLAM system is based on the initialized pose, continuously locates and updates the map during the walking process of the positioning object, and generates a map based on the initialized pose. In addition, for the environment where the map has been established, the SLAM system searches and matches the map in the initial pose area, obtains the initial pose information, and continuously locates and updates the ...

AI Technical Summary

Problems solved by technology

The accuracy of SLAM navigation mainly depends on the closing accuracy. When the scene becomes larger, the map cannot be effectively closed, which will greatly affect the positioning and map effect

On the other hand, the accuracy of the SLAM system is affected by the accuracy of the sensor, and the low-cost SLAM system cannot meet the precise positioning required for conveyor belt docking and robotic arm operation.

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