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Visual sense and laser fusion based robot positioning method and navigation application

A robot positioning and robot technology, applied in two-dimensional position/channel control and other directions, can solve problems such as low precision, achieve high precision, good real-time performance, and improve mobile efficiency.

Active Publication Date: 2019-06-28
SOUTHEAST UNIV
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Problems solved by technology

[0003] The technical problem to be solved by the present invention is to provide a robot positioning method based on vision and laser fusion, which can overcome the low precision problem caused by the traditional single positioning method and effectively improve the walking efficiency of the robot

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  • Visual sense and laser fusion based robot positioning method and navigation application
  • Visual sense and laser fusion based robot positioning method and navigation application
  • Visual sense and laser fusion based robot positioning method and navigation application

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Embodiment Construction

[0044] The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0045] The present invention designs a robot positioning method based on fusion of vision and laser, and uses an image capture device and a laser scanning device installed on the robot to realize the positioning of the robot itself. The main optical axes of the two points in the same direction. In practical applications, the image capture device is a depth image capture device, and specifically a Kinect camera can be selected, and the laser scanning device is a two-dimensional laser scanning device.

[0046] The Kinect camera can provide environmental depth data in a simple and low-cost way. Taking advantage of this advantage, this paper proposes to install 2D LiDAR and Kinect camera on the mobile robot at the same time, and combine laser scanning and depth image to detect obstacles. This obstacle detection method not o...

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Abstract

The invention relates to a visual sense and laser fusion based robot positioning method and navigation application. High-precision depth information of a laser scanner is fused with abundant scene information of an image capturing device for barrier detection. The barrier detection method has characteristics of wide planar detection range, high precision and high instantaneity as a 2D laser radarbut also advantages in 3D detection as the depth image capturing device, the robot can be positioned more accurately, and the movement efficiency of the robot is improved.

Description

technical field [0001] The invention relates to a robot positioning method and navigation application based on vision and laser fusion, and belongs to the technical field of multi-sensor data fusion. Background technique [0002] In recent years, the continuous development of artificial intelligence technology has also driven the development of the robot industry, making robots gradually move from the original industrial application to logistics and services that are closer to people's lives. The research of robotics technology is a hot spot in scientific research and application in the current era. Robots are penetrating into medical, industrial manufacturing, aerospace, military and civilian services. With the rapid development of science and technology, the application prospects of robots are very broad, especially in the future where the population is aging, the pace of life is accelerating, and people have higher requirements for quality of life. Service robots will su...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
Inventor 王庆康璐冯悠扬阳媛
Owner SOUTHEAST UNIV
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