Vision-assisted robot initialization positioning method, robot and readable storage medium
A positioning method and robot technology, which is applied in the directions of instruments, navigation, surveying and navigation, etc., can solve the problems that the robot cannot fully realize the autonomous positioning, and achieve the effect of improving the efficiency of position confirmation and avoiding subjective errors
Active Publication Date: 2021-06-08
劢微机器人科技(深圳)有限公司
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[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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[0037] It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
[0038] The main solution of the embodiment of the present invention is: obtain the position image of the robot's location through the camera on the robot, and extract the ORB feature of the position image; confirm the initial ORB feature with the highest matching degree with the ORB feature; according to the The laser data is calculated from the position coordinates of the feature nodes of the initial ORB feature; the laser data is matched with the preset laser map, and the location of the robot is confirmed by the matching result.
[0039] Since the robot in the prior art needs to manually set 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. T...
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The invention discloses a method for initial positioning of a vision-assisted robot, comprising: acquiring a position image of the position of the robot through a camera on the robot, and extracting ORB features of the position image; confirming the initial ORB with the highest matching degree with the ORB features Features; calculating laser data according to the feature node position coordinates of the initial ORB feature; matching the laser data with a preset laser map, and confirming the location of the robot with the matching result. The invention also discloses a robot and a readable storage medium. The invention uses the ORB feature of the position image as the carrier to calculate the initial position of the robot, and uses the initial position to assist the position calculation of the robot, without manually providing the initial value of the position to confirm the position of the robot, and the initial position calculated based on the ORB feature has objectivity and avoids The subjective error provided by humans is eliminated, and the beneficial effect of improving the efficiency of robot position confirmation is further realized.
Description
technical field [0001] The 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 starting up, and the robot can only realize the positioning function with the initial position. The positioning problem after the robot has an initial position is a more classic pose tracking problem, which can be solved by particle filter, extended Kalman filter or point cloud matching algorithm. But before pose tracking, it must first provide a relatively accurate initial value, and this initial value often needs to be given manually. Therefore, existing robots cannot fully realize the positioning requirements. [0003] The above content is only used to assist in understanding the technical solution of the present invention, and does not...
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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