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Hollow out barrier detection device and method for SLAM

An obstacle detection and obstacle detection technology, which is applied in the field of hollow obstacle detection devices, can solve problems such as inability to detect, high obstacle requirements, and restrictions on the application of SLAM technology, and achieve the effect of strong adaptability and wide application range

Active Publication Date: 2018-09-18
深圳市智能机器人研究院
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The problem to be solved by SLAM is: put a robot in an unknown position in an unknown environment, is there a way for the robot to draw a complete map of the environment step by step, and at the same time decide which direction the robot should go
However, one disadvantage of the existing 2D lidar-based SLAM technology is that it can only detect obstacles on a 2D plane, and has high requirements for obstacles. Some special obstacles, such as tables and chairs with hollow structures, cannot Effectively detected by existing 2D lidar
In this way, the global map based on 2D lidar may miss a large number of obstacles, which greatly limits the application of SLAM technology

Method used

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  • Hollow out barrier detection device and method for SLAM
  • Hollow out barrier detection device and method for SLAM

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Effect test

Embodiment 1

[0046] This embodiment discloses a hollow obstacle detection device for SLAM, including a host, a laser radar, and a depth camera, and the host is connected to the laser radar and the depth camera respectively;

[0047] The laser radar is used to detect space, thereby obtaining laser radar data;

[0048] The depth camera is used to detect space, thereby obtaining simulated lidar data;

[0049] The host is used to perform fuzzy logic judgment according to the lidar data and simulated lidar data in the overlapping field of view of the lidar and the depth camera, and obtain the detection of obstacles containing hollow structures according to the result of the fuzzy logic judgment result.

[0050] SLAM technology is applied in the field of robotics, so the host, lidar and depth camera can all be installed on the robot. Both the lidar and the depth camera detect the space, and the data detected by the lidar are used to build a global map in the existing SLAM technology. The data...

Embodiment 2

[0056] This embodiment will illustrate a hollow obstacle detection method for SLAM, which can be realized by the hollow obstacle detection device for SLAM described in Embodiment 1.

[0057] A hollow obstacle detection method for SLAM, such as figure 2 shown, including the following steps:

[0058] S1. Use laser radar to detect space, so as to obtain laser radar data;

[0059] S2. Use the depth camera to detect the space, and calculate according to the data obtained by the detection, so as to obtain the simulated lidar data;

[0060] S3. In the overlapping field of view of the laser radar and the depth camera, calculation and fuzzy logic judgment are performed according to the laser radar data and the simulated laser radar data, and the detection result of the obstacle containing the hollow structure is obtained according to the result of the fuzzy logic judgment. .

[0061] Further as a preferred implementation manner, the step S2 specifically includes:

[0062] S21. Use...

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Abstract

The invention discloses a hollow out barrier detection device and method for a SLAM; the detection device comprises a main machine, a laser radar and a depth camera; the laser radar is used for detecting to obtain laser radar data; the depth camera is used for detecting to obtain simulation laser radar data; the main machine is used for processing data so as to obtain a detection result of a barrier with a hollow out structure; the method comprises the following steps: using the laser radar to detect so as to obtain laser radar data; using the depth camera to detect to obtain the simulation laser radar data; obtaining the detection result of the barrier with the hollow structure via data calculation and fuzzy logic determination. The detection device and method can analyze the detected data so as to determine whether barriers with hollow structures exist in a visual field scope or not, thus detecting barriers that cannot be detected by the laser radar, and making up the disadvantages that a conventional SLAM technology only uses the laser radar for detection. The hollow out barrier detection device and method can be widely applied in the image identification processing technical field.

Description

technical field [0001] The invention relates to the technical field of image recognition processing, in particular to a hollow obstacle detection device and method for SLAM. Background technique [0002] SLAM (Simultaneous localization and mapping) is the English abbreviation of real-time localization and map construction, also known as CML (Concurrent Mapping and Localization), concurrent map construction and localization. The problem to be solved by SLAM is: put a robot in an unknown position in an unknown environment, is there a way for the robot to draw a complete map of the environment step by step, and at the same time decide which direction the robot should go. [0003] Robotic SLAM technology is the basic core technology in the field of robotics. Lidar-based SLAM technology is a widely used solution. Among them, 2D Lidar-based SLAM technology is widely used in the field of home service robots. However, one disadvantage of the existing 2D lidar-based SLAM technology ...

Claims

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Application Information

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IPC IPC(8): G01S17/93
CPCG01S17/93
Inventor 张虎谷也盛卫华
Owner 深圳市智能机器人研究院
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