Robot positioning method and device based on SLAM (Simultaneous Localization And Mapping) of covariance intersection fusion

A technology of robot positioning and covariance intersection, applied in the direction of navigation calculation tools, etc., can solve the problems of lack of linear error and high cost

Inactive Publication Date: 2019-08-13
ZHEJIANG UNIV OF TECH
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Problems solved by technology

But in a real application environment, a big difficulty in the application of SLAM algorithms is the need to maintain a complete correl

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  • Robot positioning method and device based on SLAM (Simultaneous Localization And Mapping) of covariance intersection fusion
  • Robot positioning method and device based on SLAM (Simultaneous Localization And Mapping) of covariance intersection fusion
  • Robot positioning method and device based on SLAM (Simultaneous Localization And Mapping) of covariance intersection fusion

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[0069] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, not to limit the present application.

[0070] This application provides a robot positioning method based on covariance cross fusion SLAM, such as figure 1 shown, including:

[0071] Step S1. Collect images of the surrounding environment through the binocular camera of the robot and perform correction processing to obtain a corrected image.

[0072] The robot is deployed in the application environment. In this embodiment, the robot is equipped with a binocular camera. The binocular camera works to collect images of the surrounding environment, and corrects the collected images to obtain a corrected image. Usually the binocular...

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Abstract

The invention discloses a robot positioning method and device based on SLAM (Simultaneous Localization And Mapping) of covariance intersection fusion. The method comprises the steps of collecting an image of a surrounding environment through a binocular camera of the robot and correcting the image to obtain the corrected image; processing the image, and further constructing a corresponding map point to obtain a state space model of the robot and an observation model of the robot on a road sign; predicting a predicted value of the robot posture at the current moment according to an optimized estimation value of the robot posture at the previous moment; obtaining an observed quantity at the current moment according to the observation model of the robot on the road sign; performing correctionupdate by use of a CI fusion-based filter method in combination with the observed quantity and the predicted value at the current moment to obtain the optimized estimation value of the robot postureat the current moment. According to the robot positioning method and device based on SLAM of covariance intersection fusion, the covariance intersection fusion algorithm is applied to the SLAM, thereby enhancing the robustness in the linear error, improving the filter precision and improving the accuracy of positioning of the robot in different practical application environments.

Description

technical field [0001] The invention belongs to the technical field of robot positioning, and in particular relates to a robot positioning method and device based on covariance cross fusion SLAM. Background technique [0002] The positioning of the robot means that the robot can obtain its own position in the environment when the environment is unknown. At present, the positioning methods of robots can be divided into non-autonomous positioning and autonomous positioning. Non-autonomous positioning means that the robot needs to use devices other than the robot itself, such as global positioning system (GPS), global vision system, etc. for positioning during the positioning process; while autonomous positioning means that the robot only relies on the sensors carried by the robot itself for positioning. Localization and map construction (simultaneous localization and mapping, SLAM). In SLAM technology, the robot starts to move from an unknown position, uses its own sensors, ...

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 董辉周伯男杨旭升何青俞立陈子豪张文安
Owner ZHEJIANG UNIV OF TECH
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