Determination method and determination device of pose, and speedometer

Abstract

The invention provides a determination method and a determination device of pose, and a speedometer. A scheme comprises the following steps: obtaining a point cloud through calculation, obtaining a color image and a depth image through acquiring the same object, extracting a plane in the point cloud, and determining the pose according to a matched plane pair or the matched plane pair and a matched point pair, wherein any matched plane pair comprises a first plane and a second plane matched with each other, the first plane is the plane extracted by a first frame point cloud, and the second plane is the plane extracted by a second frame point cloud; any matched point pair comprises a first point and a second point matched with each other, the first point is the point in a first frame point cloud, and the second point is the point in a second frame point cloud. So, in the method provided by the invention, two frames of the point cloud are obtained through calculation according to two frames of the color image and the depth image, and the pose is determined according to the planes respectively extracted by the two frames of point cloud, since the plane is not liable to be affected by spot noise in comparison with the point, accuracy of the pose can be improved effectively.

Description

technical field [0001] The invention relates to the technical field of image processing algorithms, in particular to a pose determination method, device and odometer. Background technique [0002] With the rapid development of science and technology, autonomous robots, as cutting-edge products of technological development, have gradually come into people's field of vision. As an effective sensor for the relative positioning of the autonomous robot, the odometer provides real-time pose information for the autonomous robot, ensuring that the autonomous robot can learn the surrounding scene structure in real time. Simultaneous localization and mapping (SLAM) technology, as the core technology in odometry, can reconstruct the three-dimensional structure of the environment in real time in an unknown environment and simultaneously position the robot itself. In SLAM technology, the specific purpose of SLAM technology is to simultaneously restore the camera motion parameters and th...

AI Technical Summary

Problems solved by technology

[0004] In view of this, the embodiment of the present invention provides a pose determination method, device and odometer, aiming to solve the problem of inaccurate pose provided by the existing odometer

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