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ORB algorithm-based cognitive map construction method

A technology of cognitive maps and construction methods, applied in computing, computing models, navigation computing tools, etc., can solve the problems of visual processing prone to perceptual deviation, and achieve the effect of improving speed, reducing perceptual deviation, and improving robustness.

Inactive Publication Date: 2018-03-16
爱极智(苏州)机器人科技有限公司
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Problems solved by technology

[0004] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a cognitive map construction method based on the ORB algorithm that can solve the problem of perception bias in visual processing and enable the model to work normally in an indoor environment

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  • ORB algorithm-based cognitive map construction method

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Embodiment Construction

[0035] The present invention will be further described below in conjunction with the accompanying drawings.

[0036] attached figure 1 It is a system flow chart of the cognitive map construction method based on the ORB algorithm, with figure 2 It is a mechanical platform for realizing the cognitive map construction method based on the ORB algorithm, which mainly includes a robot mobile platform 1, and the robot mobile platform 1 is provided with a visual sensor 2 and a computing unit 3, and the robot mobile platform 1 is directed to all The computing unit 3 provides mileage information, and the visual sensor 2 provides RGB image information and depth information to the computing unit 3 . In this embodiment, the computing unit 3 is a computer GIGABYTE ini PC; the visual sensor 2 is an Xtion pro live depth-of-field camera.

[0037] At first several nouns among the present invention are explained as follows:

[0038] Pose cell model: use the attractor network to simulate a th...

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Abstract

The invention discloses an ORB algorithm-based cognitive map construction method. The method comprises the following steps: a robot movement platform detects an external environment, and a visual sensor acquires a visual image and extracts the ORB features of the visual image to construct a local scene cell model; an excitation connection between every local scene cell and a posture cell is established, and a pose cell model controls the stability of an internal pose network through a series of internal activities; path integration of internal mileage information is carried out to estimate thecurrent position of a robot in real time; and a mapping algorithm uses the spatial information characterization of the pose cell model to construct the cognitive map of the environment in real time.The ORB algorithm-based cognitive map construction method can solve a defect that original cognitive map models cannot work indoors, and has high robustness, biological inspiration and practicality.

Description

technical field [0001] The invention relates to the field of autonomous mapping and navigation of robots, in particular to a bioinspired real-time positioning and mapping system. Background technique [0002] Many mammals are known to have an innate ability to explore and navigate complex environments. Many scholars have been working on investigating the biological mechanism of these organisms' spatial cognition ability. Studies in recent decades have shown that the hippocampus and entorhinal cortex in the brains of many organisms are closely related to the spatial cognition and navigation abilities of organisms. Among them, the pose cells located in the hippocampus can help organisms to locate, and the grid cells in the entorhinal cortex can be used for path integration. The discovery of pose cells and grid cells has attracted extensive attention from domestic researchers, and many models of pose cells and grid cells have been proposed. At present, it is known that when ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G06N3/00
CPCG01C21/20G06N3/008
Inventor 刘维军李晓东
Owner 爱极智(苏州)机器人科技有限公司
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