Map building method and system based on 3D laser
A map construction and laser technology, applied in the field of 3D map construction, can solve problems such as complex operations in the surveying and mapping process, map distortion, poor map quality, etc., and achieve the effect of avoiding surveying and mapping operations, simple and convenient operation, and efficient operation
Pending Publication Date: 2018-07-27
ZHEJIANG GUOZI ROBOT TECH
View PDF0 Cites 16 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
[0006] Among the existing 3D laser map construction methods: some use differential GPS to solve the problem of error accumulation, but map construction methods relying on differential GPS cannot solve the map construction in environments with poor GPS signals; some use total stations for surveying and mapping equipment to solve the problem of map distortion and deformation, but it needs to be equipped with a total station, and the operation of the surveying and mapping process is complicated; Good scenes often have poor map quality, and it is difficult to build large maps
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0042] The following describes several preferred embodiments of the present invention with reference to the accompanying drawings, so as to make the technical content clearer and easier to understand. The present invention can be embodied in many different forms of embodiments, and the protection scope of the present invention is not limited to the embodiments mentioned herein.
[0043] In the following description, numerous specific details are given in order to provide a more thorough understanding of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced without one or more of these details. It should be understood that the present application can be embodied in different forms and should not be construed as limited to the embodiments set forth herein. On the contrary, these embodiments are provided to make the technical contents of this application clearer and easier to understand.
[0044] High-prec...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention relates to a map building method and system based on 3D laser. The map building method comprises the following steps: planning a route and collecting data in the moving process of a mobile robot; loading the collected data by using a map building tool; performing initial registration on the adjacent laser data; performing accurate registration on the adjacent laser data; performing closed-loop association on the same area through which the mobile robot passes, and establishing closed-loop constraints; performing global optimization solution on the whole map with closed loop constraints; superimposing all the laser data and outputting a laser map. The method and the system are independent of GPS and not restricted by GPS signals; a total station and other surveying and mappingequipment are not used, and tedious surveying and mapping operation is avoided; a manual closed-loop method can be used, and maps of various large-scale indoor and outdoor environments can be built.Moreover, data collection and composition are separated, the map can be finely adjusted offline, and a high-precision map can be built.
Description
technical field [0001] The invention relates to 3D map construction of the environment, in particular to a method and system for 3D map construction of a mobile robot working scene. Background technique [0002] In the fields of navigation, simulation, robotics, virtual / augmented reality and many other intelligent control or smart devices, it is necessary to use two-dimensional or three-dimensional electronic maps as the basis for further development or use. Therefore, map construction of the real environment , to quickly, effectively and accurately convert the real environment into a two-dimensional or three-dimensional electronic map, is a basic technology widely used in the field of intelligent control or intelligent equipment. In the field of mobile robots, a good electronic map is the premise and foundation for robots to move autonomously. [0003] For mobile robots, autonomous walking is the most important capability and the most difficult problem to solve. In order ...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More IPC IPC(8): G01C21/32G01C15/00
CPCG01C15/00G01C21/32
Inventor 黄鸿陶熠昆刘杰金律君
Owner ZHEJIANG GUOZI ROBOT TECH