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Optimization method and device for real-time positioning and map construction

A technology of map construction and optimization method, applied in the field of computer vision, can solve problems such as difficult to solve scale drift and relocation, and achieve the effect of preventing loss

Active Publication Date: 2022-06-21
RICOH SOFTWARE RES CENT BEIJING
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The direct method directly uses the actual sensor values, but it is difficult to solve the problem of scale drift and relocation in large scenes

Method used

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  • Optimization method and device for real-time positioning and map construction
  • Optimization method and device for real-time positioning and map construction
  • Optimization method and device for real-time positioning and map construction

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Experimental program
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Effect test

Embodiment 1

[0053] like figure 1 As shown, it is a schematic diagram of an optimization method for real-time positioning and map construction according to Embodiment 1 of the present invention. The optimization method for real-time positioning and map construction according to the first embodiment of the present invention includes:

[0054] S101 , acquiring the stability feature of the image to be processed.

[0055] The image to be processed in the embodiment of the present invention may be acquired by a camera installed on a smart device. For example, intelligent robots.

[0056] During the specific implementation of the embodiment of the present invention, since the map and the location are three-dimensional space, and the image belongs to the two-dimensional image, the embodiment of the present invention generally acquires at least two images or image frames to be processed for processing. First, it is necessary to obtain the stability features on the image to be processed.

[005...

Embodiment 2

[0070] On the basis of the first embodiment, the second embodiment of the present invention introduces the implementation process of the present invention in more detail. like figure 2 As shown, it is a flow chart of the optimization method for real-time positioning and map construction according to the second embodiment of the present invention. The optimization method for real-time positioning and map construction according to the first embodiment of the present invention includes:

[0071] S201, acquiring stability features of an image to be processed.

[0072] Step S201 in this embodiment corresponds to step S101 in the first embodiment.

[0073] S202, acquiring sub-features of the stability feature.

[0074] The sub-features involved in the embodiments of the present invention are not the sub-division of a single feature, but all the features are divided into different subsets. Since all features cannot be processed at the same time, after being divided into subsets,...

Embodiment 3

[0106] Embodiment 3 of the present invention provides an apparatus for real-time positioning and map construction. like Figure 8 As shown, the real-time positioning and map construction device according to the embodiment of the present invention includes:

[0107] an acquisition module 81, configured to acquire the stability characteristics of the image to be processed;

[0108] a masking module 82, configured to mask the similar stability features, so as to construct an initial map and position according to the stability features;

[0109] The tracking module 83 is configured to track the initialized image to be processed according to the stability feature;

[0110] The optimization module 84 is configured to perform optimization processing on the constructed map and location according to the stability feature.

[0111] Further, the shielding module includes:

[0112] Obtaining sub-module 821, configured to obtain the sub-features of the stability feature;

[0113] Clus...

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Abstract

The invention provides an optimization method and device for real-time positioning and map construction. The optimization method for real-time positioning and map construction includes: obtaining the stability characteristics of the image to be processed; shielding the similar stability characteristics, so as to construct an initial map and position according to the stability characteristics after shielding; According to the stability characteristics, the image to be processed after the initialization process is tracked; according to the stability characteristics, the constructed map and position are optimized. This technical solution obtains the stability characteristics of the image to be processed. On the one hand, it can initialize the map and position according to the stability characteristics of similar masking, and on the other hand, it can track and optimize the image to be processed according to the stability characteristics. When processing images, since the stability features are obtained according to the properties of objects, they are relatively stable, so this can effectively prevent the loss of features during the initialization, tracking and optimization of maps and positions.

Description

technical field [0001] The invention relates to the technical field of computer vision, in particular to an optimization method and device for real-time positioning and map construction. Background technique [0002] Simultaneous localization and mapping (SLAM), also known as CML (Concurrent Mapping and Localization), refers to a robot creating a map in a completely unknown environment under the condition that its own position is uncertain, and using the map to position itself autonomously. and navigation. The positioning method based on visual sensor is a hot research topic at home and abroad in recent years. It is divided into monocular, binocular and multi-eye positioning. At present, the research on monocular SLAM methods focuses on improving the speed and accuracy of positioning and composition in indoor or road scenes. In these scenes, the features are mostly distinguishable, so it is easy to estimate the camera pose from the matched features or pixels. However, in ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02G06K9/62
CPCG05D1/0221G05D1/0223G05D1/0251G05D1/0276G06F18/23G06F18/22
Inventor 张观良刘殿超李学锋付万豪杨光伟李壮
Owner RICOH SOFTWARE RES CENT BEIJING