A semantic information fused visual SLAM loopback detection method and device

A technology of semantic information and detection methods, applied in geographic information databases, structured data retrieval, instruments, etc., can solve problems such as insufficient purpose, and achieve the effect of accurate positioning and map construction.

Pending Publication Date: 2019-05-03
FOSHAN UNIVERSITY
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Problems solved by technology

[0004] In order to achieve the same effect as the human eye with vision-based SLAM technology, you can judge your own position as long as y

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  • A semantic information fused visual SLAM loopback detection method and device
  • A semantic information fused visual SLAM loopback detection method and device
  • A semantic information fused visual SLAM loopback detection method and device

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[0052] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of them. Based on the embodiments of the present invention, other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

[0053] Such as figure 1 As shown, an embodiment of the present invention provides a visual SLAM loop detection method fused with semantic information. The Turtlebot 2 mobile robot is equipped with a robot operating system (Robot Operating System for short ROS), and the upper computer is set to NVIDIA TX2, which is loaded in Turtlebot 2. The Kinect V2 camera on the ROS system transmits video to the SLAM loop detection system.

[0054] The SLAM loopback detection method includes the following steps:

[0055] Step S100: Obta...

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Abstract

The invention relates to the technical field of robot simultaneous positioning and map construction. The invention relates to the field of SLAM detection, in particular to a semantic information fusedvisual SLAM loopback detection method and device. The method comprises the steps of obtaining a video stream image, then offline extracting a key frame from the video stream image, detecting an object-level image in the key frame, extracting features of the object-level image, then matching the features of the object-level image, and carrying out loop-back detection on the key frame, and has invariance on illumination, so that accurate positioning and map construction of a robot are realized.

Description

technical field [0001] The invention relates to the technical field of robot simultaneous positioning and map construction, in particular to a visual SLAM loop detection method and device for fused semantic information. Background technique [0002] Since the emergence of bionics and intelligent robot technology, researchers have longed for a day when robots can observe and understand the surrounding world through eyes like humans, and can walk autonomously in the natural environment dexterously to achieve harmony between man and machine. Communion. [0003] Among them, an important and basic problem is how to analyze the three-dimensional structure of the scene through two-dimensional image information, and determine the position of the camera in it. The solution to this problem is inseparable from the research of a basic technology: Simultaneous-Localization and-Mapping (SLAM), especially the vision-based SLAM technology. [0004] In order to achieve the same effect as t...

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Application Information

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IPC IPC(8): G06K9/00G06K9/62G06F16/29
Inventor 吴俊君陈世浪周林邝辉宇
Owner FOSHAN UNIVERSITY
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