Positioning and navigation method and device based on lidar and binocular camera

A technology of laser radar and binocular camera, which is applied in the directions of surveying and navigation, navigation, measuring devices, etc., to achieve the effect of fast matching and high precision
CN110389348AActive Publication Date: 2019-10-29SICHUAN UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
SICHUAN UNIV
Publication Date
2019-10-29

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Abstract

The invention relates to a positioning and navigation method based on a lidar and a binocular camera, comprising the steps of acquiring a camera image through a binocular stereo camera and processingthe image information from the binocular stereo camera to acquire a pose; acquiring a radar image through a lidar and processing the image information from the lidar to acquire a pose; optimizing andfusing the two poses to obtain a dense point cloud model and a sparse point cloud model with respect to the environment for navigation and precise positioning respectively. A positioning and navigation device based on the lidar and the binocular camera includes an image module, a lidar module, a pose optimization module, a binocular stereo camera, and a lidar. The device uses the pose optimizationmodule for optimizing and fusing the pose from the binocular stereo camera and the pose from the lidar, combines the binocular stereo camera with the multi-line lidar to achieve high-precision pose estimation and a high-precision dense point cloud map, and can be used directly for navigation and positioning of unmanned vehicles.
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Description

technical field

[0001] The invention belongs to the technical field of positioning methods for unmanned vehicles, and in particular relates to a positioning and navigation method and device based on laser radar and binocular cameras. Background technique

[0002] With the diversification of sensor types and the enhancement of computing power, the scope of application of various types of special robots becomes wider. In order to adapt to a wide variety of environments, a single sensor has become a bigger bottleneck for dedicated robots in terms of detection distance and detection accuracy. The fusion of multiple sensors can improve the detection accuracy of robots in complex scenes.

[0003] In order to solve the above problems, we have developed a positioning and navigation method and device based on lidar and binocular cameras. Contents of the invention

[0004] The object of the present invention is to provide a positioning and navigation method and device based on las...

Claims

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