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A cluster map creation method and a relocation method based on cluster map and location descriptor matching

A clustering and map technology, applied in character and pattern recognition, instruments, computing, etc., can solve the problems of map creation, autonomous relocation of unmanned vehicles, many dynamic objects, and large scene changes.

Active Publication Date: 2021-01-08
HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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Problems solved by technology

[0006] In order to solve the above technical problems, one of the purposes of the present invention is to provide a method for creating a cluster map, which solves the problem that the current urban environment has a large degree of scene change and many dynamic objects, and it is easy to create maps and autonomously relocate unmanned vehicles. cause some difficult problems

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  • A cluster map creation method and a relocation method based on cluster map and location descriptor matching
  • A cluster map creation method and a relocation method based on cluster map and location descriptor matching
  • A cluster map creation method and a relocation method based on cluster map and location descriptor matching

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[0064] In order to make the object, technical solution and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the examples, but the protection scope of the present invention is not limited to the following specific examples.

[0065] Such as figure 1 As shown, a method for creating a cluster map includes the following steps:

[0066] Step 1. Create the cluster map and provide positioning information through the three-dimensional vision-laser SLAM system framework, the three-dimensional vision-laser SLAM system framework includes a path tracking thread, a local map construction thread, and a loop detection thread; in the path In the tracking thread, the pose of the corresponding lidar is obtained through the point cloud registration module, and the monocular vision image and the 3D laser point cloud data are fused, and then the depth of the corresponding visual feature point is extracted from the 3...

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Abstract

The invention discloses a cluster map creation method and a relocation method based on the cluster map and position descriptor matching, and proposes a three-dimensional visual laser SLAM system with a complete system structure, and a cluster map creation method , and based on the clustering map and location descriptor, a relocation method for unmanned vehicles was designed. Facing the urban dynamic environment, a clustering map consistent with the scale of the real scene was created, and a method for describing the clustering position of the point cloud was designed The location descriptor of the feature, and the matching and screening of the location descriptor realize the reliable relocation of the unmanned vehicle in the urban environment. By ignoring the changes in the appearance of a single object and focusing on the mutual positional relationship between different objects, the relocation method proposed by the present invention can effectively deal with adverse changes in various scene conditions and achieve a high success rate of relocation, which has the advantages of Wider application prospects and higher research value.

Description

technical field [0001] The invention relates to the field of positioning of unmanned equipment, in particular to a clustering map creation method and a relocation method based on clustering maps and position descriptor matching. Background technique [0002] In the field of drones and unmanned vehicles, SLAM technology (that is, "simultaneous positioning and map construction") can provide position and map information for unmanned vehicles in unknown environments, just like the human perception system. Therefore, in many research fields of autonomous driving, SLAM technology will be used to provide technical support for the active pathfinding and dynamic obstacle avoidance of unmanned vehicles. In the relevant application scenarios of automatic driving, a problem that often needs to be solved is called the "kidnapping problem". This problem requires that the self-driving car still be able to pass the current environmental information and For the existing environmental map, r...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06K9/62G06K9/00
CPCG06V20/39G06F18/23
Inventor 陈浩耀潘志琛姜欣刘云辉
Owner HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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