Fusion method of indoor SLAM map based on visual perception and laser detection

A visual perception and laser detection technology, applied in the field of computer graphics, can solve problems such as obstacle avoidance and path planning errors, and achieve the effects of high accuracy, rich information, and strong practicability

Inactive Publication Date: 2019-06-07
ZHENGZHOU UNIV
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Problems solved by technology

[0005] The technical problem mainly solved by the present invention is to provide a fusion method of indoor SLAM maps based on visual perception and laser detection,

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  • Fusion method of indoor SLAM map based on visual perception and laser detection
  • Fusion method of indoor SLAM map based on visual perception and laser detection
  • Fusion method of indoor SLAM map based on visual perception and laser detection

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[0036] In order to facilitate the understanding of the present invention, the present invention will be described in more detail below in conjunction with the accompanying drawings and specific embodiments. Preferred embodiments of the invention are shown in the accompanying drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described in this specification. On the contrary, these embodiments are provided to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0037] It should be noted that, unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by those skilled in the technical field of the present invention. Terms used in the description of the present invention are only for the purpose of describing specific embodiments, and are not used to limit the present invention. The term "...

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Abstract

The invention discloses a fusion method of an indoor SLAM map based on visual perception and laser detection. The method comprises the steps of the laser detection, constructing a three-dimensional point cloud map, filtering and projection processing and map fusion; through the steps, on the one hand, a two-dimensional laser detection map containing ground height information is obtained, on the other hand, a three-dimensional visual perception point cloud map is obtained, and then after the three-dimensional visual perception point cloud map is filtered and projected, a two-dimensional visualperception map containing obstacle information is obtained; and finally, the two-dimensional laser detection map and the two-dimensional visual perception map are fused to obtain a two-dimensional fusion map. According to the fusion method of the indoor SLAM map based on the visual perception and the laser detection, the influential obstacle information in the process of robot navigation can be fused into two-dimensional map information to generate a two-dimensional map with high accuracy and rich information, and the practicability in an indoor environment for robot mobile navigation and pathplanning is high.

Description

technical field [0001] The invention relates to the field of computer images, in particular to an indoor SLAM map fusion method based on visual perception and laser detection. Background technique [0002] SLAM technology is the abbreviation of simultaneous autonomous positioning and map construction technology. SLAM technology is one of the key technologies for robot navigation. Robots use SLAM technology to perform real-time map construction and autonomous positioning to determine their own position in the environment, so as to perform accurate navigation. Obstacle avoidance and path planning. [0003] When performing robot navigation, for the indoor environment of the indoor robot, considering the limited data processing capability of the indoor robot system, we use a two-dimensional grid map as the robot's navigation map format. Its advantage is that the odometer information processes data during the robot's movement The amount is less, so that the robot can complete ac...

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Application Information

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IPC IPC(8): G05D1/02
Inventor 徐明亮黄朋飞吕培周兵郭纯一李亚飞
Owner ZHENGZHOU UNIV
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