Positioning device and method for enhancing vision and robot

Abstract

The invention discloses a positioning device and method for enhancing vision and a robot. The positioning device is a movable vision positioning device and comprises an image collection module, an image processing module, an inertia data collection and processing module and a fusion positioning module. The image collection module comprises a forward inclined camera and a backward inclined two-lenscamera head which are positioned to different positions of the positioning device and used for enhancing the vision sensing effect of the positioning device. The image processing module comprises animage pretreatment submodule and a feature matching submodule and is used for processing collected image data. The inertia data collection and processing module is used for sensing rotary angle information, acceleration information and translational velocity of an inertia sensor in real time. The fusion positioning module is used for fusing environment information obtained by sensor modules to achieve reliable and robust self positioning. Compared with the prior art, the image data and the inertia data with matched features are fused, the landmark is updated through the relative position relation, accordingly, recognition feature matching is more accurate, and positioning algorithm robustness is enhanced.

Description

technical field [0001] The present invention relates to a positioning method and device, in particular to a positioning device, a positioning method and a robot for enhancing vision. Background technique [0002] A basic technology for robots to achieve intelligence is to be able to locate and walk by themselves, and indoor navigation technology is one of the key technologies. At present, indoor navigation technologies include inertial sensor navigation, laser navigation, visual navigation, radio navigation, etc. Each technology has its own advantages and disadvantages. Inertial sensor navigation uses gyroscopes, odometers, etc. for navigation and positioning. The price is low, but there is a problem of long-term drift; laser navigation has high precision, but the price is relatively high, and the service life is also a problem; traditional visual navigation, the calculation is complex , the performance requirements of the processor are relatively high, and the power consum...

AI Technical Summary

Problems solved by technology

[0003] In the existing visual sweeper products, the camera is placed in front of the machine. Generally, it needs to protrude slightly to obtain a better viewing angle. However, this will easily cause the camera lens to be touched by some objects that are difficult to detect, and it is easy to scratch. Flower lenses; and there are generally more sensors placed in front of the machine, for example, many machines have collision bars and cylindrical 360-degree infrared receivers, which are easy to block the camera, resulting in the need to increase the angle of the camera

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