Positioning and mapping method based on millimeter wave radar and visual SLAM

A millimeter-wave radar and vision technology, applied in image analysis, image enhancement, image data processing, etc., can solve the problems of inability to take into account cost, accuracy, robustness, etc., and achieve low distance measurement capability, strong robustness, low cost effect

Active Publication Date: 2019-12-13
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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Problems solved by technology

[0004] In view of the above-mentioned deficiencies in the prior art, the present invention provides a positioning and mapping method based on millimeter-wave radar and visual SLAM, which uses a camera with a lower cost than lidar as a visual sensor. In visual SLAM, The fusion of millimeter-wave radar sensor data capable of accurate distance measurement solves the problem that existing robot positioning and mapping methods cannot take into account cost, accuracy, and robustness

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  • Positioning and mapping method based on millimeter wave radar and visual SLAM
  • Positioning and mapping method based on millimeter wave radar and visual SLAM
  • Positioning and mapping method based on millimeter wave radar and visual SLAM

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[0035] The specific embodiments of the present invention are described below so that those skilled in the art can understand the present invention, but it should be clear that the present invention is not limited to the scope of the specific embodiments. For those of ordinary skill in the art, as long as various changes Within the spirit and scope of the present invention defined and determined by the appended claims, these changes are obvious, and all inventions and creations using the concept of the present invention are included in the protection list.

[0036] Such as figure 1 As shown, in one embodiment of the present invention, a kind of positioning and mapping method based on millimeter-wave radar and visual SLAM uses Kinect v2 type camera, turtlebot2 type robot and its built-in odometer and IWR1642BOOST type millimeter-wave radar as hardware platform and follow these steps:

[0037] S1, in ROS (Robot Operating System, robot operating system), subscribe the topic that ...

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Abstract

The invention discloses a positioning and mapping method based on millimeter wave radar and visual SLAM. The distance size of the visual SLAM track data based on the camera is corrected by using the accurate distance information of the odometer. The positioning information with low cost, high accuracy and strong robustness is obtained. The point cloud scanned by the millimeter-wave radar is registered into a world coordinate system according to the positioning information. The method achieves the drawing of the position and shape of an external obstacle, irons out the defect that a millimeter-wave radar is poor in point cloud data self-registration compared with a laser radar, fully utilizes the precise distance measurement capability of the millimeter-wave radar and the low cost, and achieves the high-quality mapping.

Description

technical field [0001] The invention relates to the field of robot positioning, in particular to a positioning and mapping method based on millimeter wave radar and visual SLAM. Background technique [0002] The SLAM (Simultaneous Localization And Mapping) technology that uses cameras or lidar as external perception sensors is called visual SLAM. In recent years, visual SLAM has been a key technology in robot positioning and navigation. [0003] Visual SLAM based on cameras and lidar has its own advantages and disadvantages. Among them, lidar can return point clouds with high-precision distance information, which has high robustness, but the cost is extremely high, and the minimum is not less than a thousand yuan, making the robot The cost remains high, which is not conducive to marketization; while using a camera as a visual sensor, the cost is relatively low, but its robustness is poor, and the requirements for ambient light are extremely high, and the map data obtained by...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/20G06T7/50G06T7/73G06T7/80G06K9/62
CPCG06T7/20G06T7/80G06T7/50G06T7/73G06T2207/10028G06V10/757
Inventor 肖卓凌林晓蕊冉鑫阎波
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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