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A lidar-based slam closed-loop detection method and detection system

A technology of closed-loop detection and laser radar, which is applied in the direction of radio wave measurement system, measurement device, electromagnetic wave re-radiation, etc., can solve the problems that affect the path planning of environmental map construction, large cumulative error, closed-loop false detection, etc., and achieve timely and accurate composition , reduce cumulative error and improve accuracy

Active Publication Date: 2020-09-22
SHENZHEN SILVER STAR INTELLIGENT TECH CO LTD
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Problems solved by technology

[0005] In view of this, the embodiment of the present application provides a lidar-based SLAM closed-loop detection method and detection system to solve the hysteresis of laser SLAM closed-loop detection in the prior art, and the cumulative error is large, which may easily cause closed-loop false detection and affect the environment. Map construction and subsequent path planning issues

Method used

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  • A lidar-based slam closed-loop detection method and detection system
  • A lidar-based slam closed-loop detection method and detection system
  • A lidar-based slam closed-loop detection method and detection system

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Embodiment Construction

[0019] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

[0020] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude one or more other features. , whole, step, operation, element, component and / or the presence or addition of a collection thereof.

[0021] It shou...

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Abstract

This application is applicable to the field of cleaning equipment, and provides a lidar-based SLAM closed-loop detection method and detection system, wherein the method includes: performing closed-loop detection through a visual closed-loop detection module based on camera data collected by the camera, and obtaining the first closed-loop detection result ; On the basis of the first closed-loop detection result, send the closed-loop detection information to the laser synchronous positioning and mapping SLAM module through the visual closed-loop detection module; when the laser SLAM module obtains the closed-loop detection information, execute the image Optimize operations and improve the accuracy of environment map construction and subsequent path planning.

Description

technical field [0001] The application belongs to the field of cleaning equipment, and in particular relates to a lidar-based SLAM closed-loop detection method and detection system. Background technique [0002] With the advancement of technologies such as signal processing, artificial intelligence, and mechanical manufacturing, the demand for robots with environmental perception, autonomous navigation, and human-computer interaction is becoming stronger and stronger. Robots with autonomous consciousness require robots to have good perception, judgment and adaptability to the environment, so that they can complete many tasks that humans want them to complete. The autonomy of the robot is to complete some tasks through the autonomous decision-making of the robot in an unknown environment. In an unknown environment, SLAM (simultaneous localization and mapping, simultaneous localization and mapping) technology is usually used to realize the detection and path navigation of the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16G01S17/93G01S17/89G06K9/00G06T17/05
CPCB25J9/1664G01S17/93G01S17/89G06T17/05G06V20/10
Inventor 闫瑞君任娟娟张国栋叶力荣孙振坤
Owner SHENZHEN SILVER STAR INTELLIGENT TECH CO LTD
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