SLAM (Simultaneous Localization and Mapping) method and device based on visual inertia, storage medium and equipment

A vision and filtering algorithm technology, applied in measurement devices, navigation, navigation and other directions through speed/acceleration measurement, which can solve problems such as difficulty in taking into account SLAM calculation efficiency and positioning accuracy

Active Publication Date: 2019-08-13
CLOUDMINDS SHANGHAI ROBOTICS CO LTD
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Problems solved by technology

[0003] The purpose of the present disclosure is to provide a SLAM method, device, storage medium and equipment based on visual inertia to solve the problem in the prior art that it is difficult to balance the computational efficiency and positioning accuracy of SLAM

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  • SLAM (Simultaneous Localization and Mapping) method and device based on visual inertia, storage medium and equipment

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[0065] Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatuses and methods consistent with aspects of the present disclosure as recited in the appended claims.

[0066] Before introducing the visual inertia-based SLAM method, device, storage medium, and equipment provided in the present disclosure, the application scenarios involved in the various embodiments of the present disclosure will be introduced first. The application scenario can be any terminal that requires SLAM (for example: robot), and the terminal can be equipped with two kinds of...

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Abstract

The invention relates to an SLAM (Simultaneous Localization and Mapping) method and device based on visual inertia, a storage medium and equipment, and relates to the technical field of wireless locating. The method comprises the steps of: fusing image information acquired by an image acquisition unit at the first time and motion information acquired by an inertial measurement unit IMU according to an extended Kalman filtering algorithm, so that the initial posture is obtained, determining an initial local map according to the image information and the initial posture, optimizing the initial posture and the initial local map according to a pre-set nonlinear optimization algorithm, so that the optimized posture and the optimized local map are obtained, and updating the target initial posture and the target initial local map according to the optimized posture and the optimized local map. The SLAM calculation efficiency and locating precision can be increased.

Description

technical field [0001] The present disclosure relates to the technical field of wireless positioning, and in particular, to a visual inertia-based SLAM method, device, storage medium and equipment. Background technique [0002] With the continuous development of terminal technology, robots have entered many technical fields to help people complete various tasks. For a robot that needs to move continuously during the work process, in order to better complete the task, it is necessary to obtain accurate positioning. The robot uses various information collection devices to collect the external information of the physical environment where the robot is located, and thus performs SLAM (English: Simultaneous Localization and Mapping, Chinese: Instant Positioning and Map Construction). External information usually includes visual information (such as images) and motion information (acceleration, direction, etc.), and it is necessary to combine the two types of information to achie...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/165G01C21/20
Inventor 高军强林义闽廉士国
Owner CLOUDMINDS SHANGHAI ROBOTICS CO LTD
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