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Location method, electronic device, storage medium, and system based on scene re-recognition

A positioning method and scene technology, applied in image analysis, image enhancement, navigation and other directions, can solve problems such as robot kidnapping

Active Publication Date: 2020-05-15
HANGZHOU JIAZHI TECH CO LTD
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Problems solved by technology

In a long-term running environment, it is unavoidable that the positioning is lost or the robot is kidnapped, so in this case it is necessary to quickly and accurately locate the robot

Method used

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  • Location method, electronic device, storage medium, and system based on scene re-recognition
  • Location method, electronic device, storage medium, and system based on scene re-recognition
  • Location method, electronic device, storage medium, and system based on scene re-recognition

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Embodiment Construction

[0034] Below, the present invention will be further described in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, under the premise of not conflicting, the various embodiments described below or the technical features can be combined arbitrarily to form new embodiments. .

[0035] Location methods based on scene re-recognition, such as figure 1 shown, including the following steps:

[0036] S1. Data conversion, converting three-dimensional laser data into two-dimensional single-channel images;

[0037] S2. Establish a feature map, mark the image, and obtain the label corresponding to the image; use the image and the label as input, use the neural network training model to train to obtain the feature vector, and establish the feature map according to the feature vector;

[0038] S3. Global positioning, matching the current laser data with the existing feature map, and selecting the closest matching result as the current ...

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Abstract

The present invention provides a positioning method based on scene recognition. The positioning method comprises: carrying out data conversion, wherein three-dimensional laser data is converted into atwo-dimensional single-channel image; establishing a feature map, wherein the image is marked to obtain a label corresponding to the image, training is performed with a neural network training modelby using the image and the label as input to obtain feature vectors, and the feature map is established according to the feature vectors; and carrying out global positioning, wherein the current laserdata is matched with the existing feature map, and the nearest result of the matching result is selected as the current global positioning. The invention further relates to an electronic device, a storage medium, and a system. According to the present invention, the matching between the laser data and the map is completed based on the rapid searching of the k-d tree, and the two-dimensional poseof the robot is globally estimated by using the scene recognition as the observation model and fusing the mileage information and the particle filter algorithm; no change is generated during the rotation, and the orientation of the robot at this time cannot affect the result; and the method can be adapted to the gradual change of the outdoor environment, and is suitable for the long-term operationof the robot.

Description

technical field [0001] The invention relates to a positioning method, in particular to a positioning method based on scene re-recognition, an electronic device, a storage medium, and a detection system. Background technique [0002] In recent years, outdoor mobile robots have appeared in all aspects of production and life. For functions such as unmanned driving, outdoor inspection, and automatic delivery, mobile robots need more robust global positioning. In a long-term running environment, it is unavoidable that the positioning is lost or the robot is kidnapped, so in this case it is necessary to locate the robot quickly and accurately. The three-dimensional laser sensor can obtain the environmental structure information around the robot more accurately, and has been widely used in the map construction and real-time positioning of outdoor robots. This is just becoming the research of the present invention and the direction of deepening. Contents of the invention [000...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/00G06T7/73
CPCG01C21/005G06T7/73G06T2207/10004G06T2207/20081
Inventor 王越尹欢
Owner HANGZHOU JIAZHI TECH CO LTD
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