Method and device for detecting positions and posture on basis of auxiliary lines and computer readable storage medium

Abstract

The invention discloses a method and device for detecting positions and posture on the basis of auxiliary lines and a computer readable storage medium. The method for detecting the positions and posture includes steps of initializing detection processes; acquiring sensor data; carrying out prior estimation on the positions and posture; extracting course angle detection value sets; carrying out posterior estimation on course angles; extracting position detection value sets and carrying out posterior estimation on the positions; ultimately outputting position and posture information. Compared with the prior art, the method, the device and the computer readable storage medium have the advantages that the positions and posture of robots can be detected by the aid of estimation algorithms and combinations of sensors such as inertial measurement units and sensors in real time; the method, the device and the computer readable storage medium are low in cost and high in precision and reliability, and a detection means which is high in cost performance can be provided to acquiring the position and posture information of the diversified robots.

Description

technical field [0001] The present invention relates to the technical field of robot perception, in particular to a pose detection method, device and computer-readable storage medium based on auxiliary lines. Background technique [0002] A robot is a machine device that performs work automatically. It can accept human command, run pre-programmed programs, and act according to principles formulated with artificial intelligence technology. Its mission is to assist or replace human work. It is not only widely used in industry, agriculture, national defense, medical treatment, service and other industries, but also in harmful and dangerous situations such as mine clearance, search and arrest, rescue, radiation and space fields. good application. Therefore, the research of robot technology has been widely concerned by countries all over the world. [0003] One of the basic functions of the robot is movement, or pose control, which is also the basis for the robot to realize ot...

AI Technical Summary

Problems solved by technology

[0005] 1) Most of the heading angle detection using the magnetometer can only be used in open outdoor environments. For indoor environments, if there is a lot of ferromagnetic and electromagnetic interference, the detection method may fail;

[0006] 2) The heading angle detection implemented by the gyroscope will become more and more unreliable over time, and the gyroscope with small drift is too expensive to be used in many low-cost application scenarios;

[0007] 3) Most of the multi-satellite positioning methods can only be used in outdoor open environments, and are not suitable for environments where satellite signals cannot reach, such as woods, canyons, indoors, underground, underwater, and tunnels;

[0008] 4) Radio positioning methods based on WiFi and UWB have problems such as multi-path interference, and the positioning range is limited. If the positioning range is to be expanded, the cost of the equipment will inevitably increase;

[0009] 5) The vision-based positioning method is affected by the light. For scenes where the light is too strong or too dark based on severe changes, the accuracy of this method is low. In addition, there are problems such as feature mismatch and line-of-sight occlusion;

[0010] 6) Positioning methods based on vision, WiFi or magnetic field fingerprints are not practical enough because a large number of experiments need to be done in advance to obtain the fingerprint characteristics of the robot's position, and for scenarios where fingerprints will change (especially magnetic field fingerprints). Positioning means are unreliable

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