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Synchronous positioning and composition algorithm based on point cloud segmentation matching closed-loop correction

A technology of synchronous positioning and closed-loop correction, which is applied in computing, image enhancement, image analysis, etc., can solve the problems of lack of loop closure detection, storage and correction, error accumulation, etc., and achieve good global consistency, elimination of accumulated errors, and efficient storage Effect

Active Publication Date: 2020-01-14
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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Problems solved by technology

[0011] The purpose of the present invention is to solve the problem that when the existing SLAM algorithm runs in an outdoor long-distance environment, the error will accumulate with the increase of the distance, and there is a lack of loop closure detection to store and correct the historical pose and map. A Synchronous Positioning and Composition Algorithm Based on Point Cloud Segmentation Matching Closed-loop Correction

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  • Synchronous positioning and composition algorithm based on point cloud segmentation matching closed-loop correction

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Embodiment Construction

[0042] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0043] This implementation example provides a synchronous positioning and composition algorithm based on point cloud segmentation matching closed-loop correction. The embodiment of the present invention uses the Velodyne HDL-16E three-dimensional laser radar and the KITTI outdoor long-distance urban street data set for algorithm verification. In addition, the mobile robot is also equipped with sensors such as an odometer encoder, an inertial measurement unit IMU, and an industrial computer equipped with a ROS system to realize communication between each sensor and the robot. The horizontal scanning range of the 3D laser radar is 360 degrees, the pitching scanning range is 30 degrees, and the scanning distance is 100 meters; the core processor of the industrial computer is i5-4460, four threads, 3.20GHz, 4G running memory. The example algorithm is teste...

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Abstract

The invention discloses a synchronous positioning and composition algorithm based on point cloud segmentation matching closed-loop correction, and belongs to the technical field of robot autonomous navigation and computer graphics. According to the algorithm, inter-frame matching is carried out on feature points extracted from three-dimensional point cloud to obtain relative pose transformation ofthe robot, meanwhile, the obtained pose is stored at the rear end in a graph form, and then the point cloud is recorded based on the pose to form a map; the point cloud is fragemented and stored by using a point cloud segmentation and description algorithm, and the point cloud fragments are matched by using a random forest algorithm to form a closed-loop constraint condition; and finally, the historical poses and the map are corrected through a graph optimization algorithm to realize synchronous positioning and composition of the robot. According to the method, while the local positioning precision is ensured, the historical poses and maps are stored and corrected, accumulated errors in an outdoor long-distance environment are effectively reduced, and then synchronous positioning and composition of the robot with good global consistency are achieved.

Description

technical field [0001] The invention belongs to the technical fields of robot autonomous navigation and computer graphics, and in particular relates to a synchronous positioning and composition algorithm based on point cloud segmentation matching closed-loop correction. Background technique [0002] Since the 21st century, with the rapid development of computer science, the way of human life and work is undergoing earth-shaking changes. The emergence of artificial intelligence provides great possibilities for liberating people from heavy physical labor and even complex mental work. As a tool to assist and replace human work, robots have the ability to navigate autonomously is the first step to realize their intelligence. Synchronous positioning and composition SLAM technology enables the robot to complete the construction of the environment map and estimate its own position at the same time. It is a prerequisite for autonomous navigation and is also a hot issue in the field...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T19/00G06T7/73G06K9/62
CPCG06T19/003G06T7/73G06T2207/10028G06T2207/10044G06F18/22
Inventor 左琳姬兴亮刘宇张昌华陈勇刘玉祥何配林
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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