Robot positioning method, device, equipment and medium based on arc feature extraction
A robot positioning and feature extraction technology, applied in the computer field, can solve problems such as low efficiency, difficulty in real-time application of robot positioning, and low accuracy of robot positioning, so as to reduce the amount of calculation, improve efficiency, and reduce the amount of data.
Active Publication Date: 2021-11-19
HEFEI UNIV OF TECH
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Problems solved by technology
[0005] Embodiments of the present invention provide a robot positioning method, device, equipment, and medium based on arc feature extraction to solve the problem of the low efficiency of using traditional Hough transform for arc feature extraction in the prior art, and it is difficult to apply it to robot positioning in real time , leading to the problem that the accuracy of robot positioning is not high
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[0033] Next, the technical solutions in the embodiments of the present invention will be described in conjunction with the drawings of the embodiments of the present invention, and it is clear that the described embodiments are intended to be in an embodiment of the invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained without creative labor are not made in the premise of creative labor.
[0034] Robot positioning method based on the extracted feature arc provided herein, can be applied in the autonomous positioning robot apparatus, the robot apparatus includes a ranging sensor, to analyze the data collected by the ranging sensor, to achieve an arc feature extraction and the robot's autonomous position.
[0035] In one embodiment, if figure 1 Shown, there is provided a method of positioning a robot-based feature extraction arcuate, comprises steps S1 to step S8, as detailed below:
[0036] S1: acquiring point cloud...
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The invention discloses a robot positioning method, device, equipment and medium based on arc feature extraction. The method includes: segmenting the point cloud data frame to obtain a target block; in each target block, filtering out continuous adjacent scanning points that meet preset conditions to form a data segment; filtering out each data segment The scan point closest to the preset initial position in the segment, and connect the scan point and the preset initial position to obtain the target straight line; take the intersection point between every two target straight lines as the target point; according to the coordinates of each target point, Use the preset Hough transform algorithm to determine the coordinates of the center of the circle, and combine the coordinates of the preset initial position to calculate the radius of the arc; if the data segment matches the circle formed by the coordinates of the center of the circle and the radius of the arc, then extract the data segment as Arc feature, and use this arc feature for robot positioning. The technical scheme of the invention improves the efficiency of arc feature extraction and the accuracy of robot positioning.
Description
Technical field [0001] The present invention relates to computer technologies, and particularly to a method of positioning a robot arc feature extraction apparatus, and a medium based device. Background technique [0002] Positioning basic capability mobile robot, autonomous mobile robot in positioning all need to carry their own perception of the environment sensor and analyzed by the calculation data collected by the sensor to determine the current location. [0003] Positioning function for data first need to be collected ranging sensor feature extraction. Common ranging sensor infrared sensor, an ultrasonic sensor, a laser radar sensor, a vision sensor. Wherein, the laser radar sensor due to high speed, high precision, large-scale, high resistance to light, electrical interference, etc. are widely used. Example laser radar sensor, lidar sensor data acquired, there are several types of important characteristics: linear, corner (Corner), the tear point (a BREAKPOINT), and arc. ...
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IPC IPC(8): B25J9/16G01C21/20
CPCB25J9/1602G01C21/20
Inventor 方宝富丁建峰王在俊詹志强韩健英王乐
Owner HEFEI UNIV OF TECH