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A positioning method of mobile robot based on visual odometry

A mobile robot and visual odometer technology, applied in navigation calculation tools, etc., can solve problems such as positioning failure, inaccurate positioning, and encoder interference, and achieve high positioning accuracy, high positioning frequency, and improved accuracy.

Active Publication Date: 2020-12-22
SOUTHWEST JIAOTONG UNIV
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AI Technical Summary

Problems solved by technology

Since the wheels of the mobile wheeled robot will slip during the automatic driving process, it is easy to interfere with the encoder, causing error accumulation and directly leading to inaccurate positioning. When the vehicle body is in a static state, there will also be interference from factors such as zero drift. In addition, GPS must be used in outdoor scenes, and when buildings are blocked or the signal is not good, data will be lost, resulting in positioning failure

Method used

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  • A positioning method of mobile robot based on visual odometry
  • A positioning method of mobile robot based on visual odometry
  • A positioning method of mobile robot based on visual odometry

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Embodiment Construction

[0042] The specific embodiments of the present invention are described below so that those skilled in the art can understand the present invention, but it should be clear that the present invention is not limited to the scope of the specific embodiments. For those of ordinary skill in the art, as long as various changes Within the spirit and scope of the present invention defined and determined by the appended claims, these changes are obvious, and all inventions and creations using the concept of the present invention are included in the protection list.

[0043] Such as figure 1 As shown, the mobile robot positioning method based on visual odometry includes the following steps:

[0044] S1. Collect image information of the surrounding environment of the mobile robot;

[0045] S2. Calculate the prior motion estimation of the image by the optical flow method, and obtain the motion trajectory of the mobile robot based on the optical flow method;

[0046] S3. Perform three-dim...

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Abstract

The invention discloses a mobile robot positioning method based on a visual odometer, which includes the following steps: S1, collecting image information of the surrounding environment of the mobile robot; S2, obtaining the motion trajectory of the mobile robot based on the optical flow method; S3, establishing a local map ; S4, obtain the next key frame in the real-time image through the local map, and obtain the feature points in the key frame; S5, obtain the motion trajectory of the mobile robot based on the feature points; S6, perform Kalman fusion to obtain the mobile robot's Position; S7, determine whether to continue positioning, if so, enter step S8, otherwise end positioning; S8, update the local map according to the key frame, and use the same method as step S2 to continuously obtain the motion trajectory of the mobile robot based on the optical flow method and return Step S4. This method has fast calculation speed, high positioning frequency and high positioning accuracy, and is suitable for mobile robot positioning in small motion scale scenes.

Description

technical field [0001] The invention relates to the field of mobile robot positioning, in particular to a visual odometer-based mobile robot positioning method. Background technique [0002] With the continuous development of mobile robot technology, artificial intelligence has penetrated into all walks of life, bringing a lot of convenience to people's lives. Robots with mobility, autonomous localization, and navigation have received widespread attention and strong support, both in industry and academia. As a contemporary high-tech product, intelligent robots represent the level of technology and productivity. Since the 21st century, the development of sensor technology and communication technology has laid a solid foundation for the application of mobile robots. [0003] As the core module of mobile robots, positioning and navigation play a pivotal role. Accurate positioning information can meet the needs of many upper-level tasks, such as automatic driving and path plann...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 卢燚鑫张一博马磊孙永奎
Owner SOUTHWEST JIAOTONG UNIV
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