A real-time SLAM scene map constructing system, a navigation system and a method

A map construction and scene technology, applied in the field of navigation, can solve the problems of large navigation positioning error, SLAM map deviation, and affecting positioning accuracy, and achieve the effect of eliminating cumulative error, reducing performance requirements, and realizing maintenance-free
CN108775901AActive Publication Date: 2018-11-09SHANDONG UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
SHANDONG UNIV
Publication Date
2018-11-09

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Abstract

A real-time SLAM scene map constructing system, a navigation system and a method are disclosed. The system overcomes a difficult problem of real-time map constructing for SLAM navigation systems whenscene changes are large, such that a robot can obtain accurate positioning information in a changed scene. The real-time SLAM scene map constructing system includes at least two independent SLAM mapping subsystems having fixed spatial locations. The SLAM mapping subsystems are configured to send spatial geographical location information and collected local scene map information into which a timestamp is added to a core server. The core server is configured to determine the relative location relationship among local scene maps having same timestamps according to the spatial geographical location information of the SLAM mapping subsystems, thus fusing the local scene maps having same timestamps to generate a real-time overall SLAM scene map.
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Description

technical field

[0001] The invention belongs to the technical field of navigation, and in particular relates to a real-time SLAM scene map construction system, a navigation system and a method. Background technique

[0002] Simultaneous Localization and Mapping (SLAM) technology refers to placing the robot in an unknown environment, starting from an unknown position to create an incremental map of the environment, and using the created map for autonomous positioning and mapping. navigation. SLAM technology can enable robots to achieve true autonomous navigation. Positioning algorithms and map representations are usually applied in pairs. In the SLAM problem, robot positioning depends on the environment map, and the map creation process also depends on the accurate positioning of the robot. This is a highly related process that must be solved at the same time. Neither problem can Solved individually.

[0003] The SLAM problem has been developed for nearly three decades sin...

Claims

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