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Vision-assisted robot initialization positioning method, robot and readable storage medium

A positioning method and robot technology, applied in the directions of instruments, measuring devices, surveying and navigation, etc., can solve the problem of not being able to fully realize the autonomous positioning of robots, and achieve the effect of improving the efficiency of position confirmation and avoiding subjective errors.

Active Publication Date: 2020-01-10
劢微机器人科技(深圳)有限公司
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AI Technical Summary

Problems solved by technology

[0004] The main purpose of the present invention is to provide a visual aided robot initialization positioning method, robot and readable storage medium, aiming to solve the problem that the robot in the prior art needs to manually set a relatively accurate initial value to achieve precise positioning. Technical problems that cannot fully realize the robot's autonomous positioning

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  • Vision-assisted robot initialization positioning method, robot and readable storage medium
  • Vision-assisted robot initialization positioning method, robot and readable storage medium
  • Vision-assisted robot initialization positioning method, robot and readable storage medium

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Embodiment Construction

[0037] It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

[0038] The main solutions of the embodiments of the present invention are: obtaining a position image of the position of the robot through a camera on the robot, and extracting the ORB feature of the position image; confirming the initial ORB feature with the highest matching degree with the ORB feature; The laser data is calculated by the feature node position coordinates of the initial ORB feature; the laser data is matched with a preset laser map, and the location of the robot is confirmed with the matching result.

[0039] Since the robot in the prior art needs to manually give a relatively accurate initial value to achieve precise positioning during positioning, the technical problem of autonomous positioning of the robot cannot be fully realized.

[0040] The present invention provides a solution. The pres...

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Abstract

The invention discloses a vision-assisted robot initialization positioning method. The method comprises the following steps of acquiring a position image of a position of a robot through a camera on the robot, and extracting ORB characteristics of the position image; confirming the initial ORB characteristics with the highest matching degree with the ORB characteristics; calculating laser data according to the characteristic node position coordinates of the initial ORB characteristics; and matching the laser data with a preset laser map, and confirming the position of the robot according to amatching result. The invention also discloses a robot and a readable storage medium. The initial position of the robot is calculated by taking the ORB characteristics of the position image as a carrier, the initial position assists the position calculation of the robot, an operation of manually providing the position initial value to confirm the position of the robot is avoided, the manually provided subjective error is avoided through the objective of the initial position calculated based on the ORB characteristics, and the position confirming efficiency of the robot is further improved.

Description

technical field [0001] The present invention relates to the technical field of robot positioning, in particular to a method for initializing and positioning a vision-assisted robot, a robot and a readable storage medium. Background technique [0002] At present, the indoor mobile robot with laser navigation must provide an initial position after the robot is turned on, and the robot can realize the positioning function only with the initial position. The positioning problem after the robot has an initial position is a relatively classic pose tracking problem, which can be solved by particle filtering, extended Kalman filtering or point cloud matching algorithms. However, before pose tracking, a relatively accurate initial value must be provided first, and this initial value often needs to be manually given. Therefore, existing robots cannot fully meet the positioning requirements. [0003] The above content is only used to assist the understanding of the technical solution...

Claims

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/206
Inventor 陈文成
Owner 劢微机器人科技(深圳)有限公司
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