Robot positioning and mapping method, computer device and computer readable storage medium

A robot positioning and frame image technology, applied in the field of image processing, can solve problems such as low precision, inability to run in real time, complex calculation and high precision, and achieve high running speed, high-precision positioning, and accurate judgment

Pending Publication Date: 2019-05-28
西安全志科技有限公司
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AI Technical Summary

Problems solved by technology

The loose coupling framework is similar to the filter fusion method, but the accuracy is low; the tight coupling framework allows the data of the inertial measurement unit to correct the visual odometry, and the visual odometry information can also correct th

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  • Robot positioning and mapping method, computer device and computer readable storage medium
  • Robot positioning and mapping method, computer device and computer readable storage medium
  • Robot positioning and mapping method, computer device and computer readable storage medium

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Example Embodiment

[0032] The robot positioning and mapping method of the present invention is applied to a robot. Specifically, the robot is a mobile robot, such as an unmanned aerial vehicle, a sweeping robot, etc., and the robot is provided with an embedded chip. The graph method is implemented by the program running on the embedded chip. Further, the embedded chip may have a processor and a memory, a computer program is stored on the memory, and the processor implements the robot positioning and mapping method by executing the computer program.

[0033] Examples of robot positioning and mapping methods:

[0034] This embodiment is aimed at the Synchronous Localization and Mapping (SLAM) algorithm in the vision field. Since visual SLAM algorithms can be divided into sparse indirect algorithms based on feature points, sparse direct algorithms based on minimizing photometric errors, dense indirect algorithms based on optical flow field matching, and dense direct algorithms based on prior geometric ...

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Abstract

The invention provides a robot positioning and mapping method, a computer device and a computer readable storage medium. The method comprises the following steps of pre-integrating information acquired by an inertial measurement unit by utilizing information acquired by a camera device and information acquired by the inertial measurement unit; using the front end module to carry out motion tracking by utilizing pre-integrated relative pose information, and judge whether a visual tracking loss condition occurs or not, if the visual tracking loss condition does not occur, carrying out the visualand inertial measurement fusion operation, and updating the state information of an inertial measurement unit; and when a new key frame is generated, using the rear end module to acquire the pose information of the key frame acquired by the front end module and the corresponding relation information of the feature points, create and optimize a factor graph, and update a rear end map by using theacquired pose information and the depth information of the 3D points. The invention also provides a computer device for realizing the method and a computer readable storage medium. According to the invention, the positioning and mapping of the robot can be realized efficiently and accurately.

Description

technical field [0001] The present invention relates to the field of image processing, specifically, a sweeping robot positioning and mapping method based on monocular vision and an inertial measurement unit, and also relates to a computer device and a computer-readable storage medium for realizing the method. Background technique [0002] With the development of intelligent control technology, unmanned intelligent robots have begun to be widely used, such as transportation robots for industrial production applications, sweeping robots for household use, window cleaning robots, and small drones. Because these robots need to move during the working process, some robots need to move quickly. In order to realize the motion control of the robot, it is usually realized by using Simultaneous localization and mapping (SLAM) technology. [0003] Synchronous positioning and mapping technology is a technology for robots to simultaneously realize their own positioning and environment m...

Claims

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Application Information

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IPC IPC(8): G06T7/246G06T7/50G06T7/70G06K9/00
Inventor 张朵朵胡本川赵博
Owner 西安全志科技有限公司
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