Robot positioning method, electronic equipment, storage medium, and apparatus

Abstract

The invention provides a robot positioning method. In the invention, by obtaining motion information, the current position and posture of a robot can be estimated according to the motion information,a mileometer and a gyroscope provide motion constraint, the current position and posture of the robot can be optimized by using the motion constraint, and the optimal locus of the robot can be obtained. The invention relates to a robot positioning apparatus. The invention also relates to electronic equipment and a readable storage medium, which can be used for executing the robot positioning method. The external environment can be sensed through a binocular visual sensor, the mileometer and the gyroscope can sense the self motion of the robot, robustness of a visual positioning method is enhanced, better motion constraint is provided, positioning cost is low, and the accumulative error of position and posture estimation can be continuously corrected during long-term operation of the robot,so that the problems that under similar or sparse environment characteristic or complex scenes of many dynamic objects in environment, the mismatching causes calculating error, and the positioning failure is generated can be solved.

Description

Technical field [0001] The invention relates to the technical field of autonomous movement of robots, in particular to a robot positioning method, electronic equipment, storage medium and device. Background technique [0002] In recent years, robotics, especially mobile robotics, is greatly affecting our work and life. The self-positioning of a mobile robot refers to collecting environmental information or its own motion information through various sensors, and fusing the data through technical means and prior information to determine the pose of the mobile robot relative to a reference coordinate system. In the fields of service and indoor inspection, robots are required to achieve long-term stable operation in the indoor environment and to achieve accurate self-positioning. At this stage, the positioning method based on 3D lidar can meet the above requirements, but the cost of 3D lidar is relatively high, and it is not suitable for large-scale popularization of robots. The co...

AI Technical Summary

Problems solved by technology

[0004] The second object of the present invention is to provide an electronic device, which can perceive the external environment through the binocular vision sensor, the odometer and the gyroscope to perceive the movement of the robot itself, enhance the robustness of the visual positioning method, and provide better motion constraints. The positioning cost is low. During the long-term operation of the robot, the cumulative error of pose estimation is continuously corrected, which solves the problem of positioning due to the inability to establish correct data association in complex scenarios such as similar or sparse environmental features and many dynamic objects in the environment. failure problem

Images