A method and device for assisting ground robot navigation based on UAV visual slam

A navigation method and UAV technology, applied in the field of robotics, can solve the problems of insufficient mapping, limited mapping area, slow speed, etc.

Active Publication Date: 2021-07-16
湖北三体星空文化服务有限公司
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Problems solved by technology

However, there are many problems in this scheme, including less laser data information, limited mapping area, low mapping efficiency, slow speed, insufficient mapping and high cost of mapping.

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  • A method and device for assisting ground robot navigation based on UAV visual slam
  • A method and device for assisting ground robot navigation based on UAV visual slam

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Embodiment Construction

[0038] In order to clearly illustrate the solutions in the present invention, preferred embodiments are given below and detailed descriptions are given in conjunction with the accompanying drawings. The following description is merely exemplary in nature and is not intended to limit the application or uses of the present disclosure. It should be understood that throughout the drawings, corresponding reference numerals indicate like or corresponding parts and features.

[0039] Such as figure 1 shown. A method for assisting ground robot navigation based on unmanned aerial vehicle visual SLAM, the method comprising:

[0040] S101, the UAV acquires image data;

[0041] S102. Perform edge detection on the image data to obtain edge detection image data; the edge detection is edge detection through a Canny operator.

[0042] The Canny operator is a kind of edge detection operator, which detects the edge of the object in the image, and the edge is the part of the local area of ​​...

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Abstract

The invention discloses an auxiliary ground robot navigation method based on unmanned aerial vehicle visual SLAM. The method comprises: the unmanned aerial vehicle acquires image data; performs edge detection on the image data to obtain edge detection image data; Enhance the edge detection data; carry out contour detection on the enhanced data; obtain peripheral contour data according to the contour detection; combine the peripheral contour data with the initial map through the binocular vision SLAM method combining point and line features. The invention solves the problems of less laser data information, limited drawing area, low drawing efficiency, slow speed, insufficiently fine drawing and high drawing cost.

Description

technical field [0001] The invention relates to the field of robots, in particular to a method and device for assisting ground robot navigation based on unmanned aerial vehicle visual SLAM. Background technique [0002] Simultaneous Localization And Mapping (SLAM) has always been the core technology and difficulty in the fields of intelligent robots, autonomous driving, and AR / VR. For ground robots, the most important thing to achieve autonomous navigation is to obtain a map of the surrounding environment. The current common ground robot mapping scheme mainly uses laser SLAM to map a single ground robot, but this scheme is artificially controlled. The area is limited, and the drawing efficiency is low, the speed is slow, and the drawing is not fine enough due to the low viewing angle of the ground laser, and the high cost of the laser makes the drawing expensive. [0003] Laser SLAM: Laser SLAM was born out of early ranging-based positioning methods (such as ultrasonic and ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 王晨捷罗斌尹露赵青王伟陈勇邹建成李露李成源
Owner 湖北三体星空文化服务有限公司
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