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A Synchronous Positioning and Composition Method Based on Point Cloud Segmentation Matching Closed-loop Correction

A synchronous positioning and closed-loop correction technology, applied in image analysis, image enhancement, image data processing, etc., can solve the problems of lack of loop closure detection storage and correction, error accumulation, etc., to achieve good global consistency, eliminate accumulated errors, high efficiency stored effect

Active Publication Date: 2021-08-27
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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  • Abstract
  • Description
  • Claims
  • Application Information

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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 Method Based on Point Cloud Segmentation Matching Closed-loop Correction

Method used

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  • A Synchronous Positioning and Composition Method Based on Point Cloud Segmentation Matching Closed-loop Correction
  • A Synchronous Positioning and Composition Method Based on Point Cloud Segmentation Matching Closed-loop Correction
  • A Synchronous Positioning and Composition Method 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 method for synchronous positioning and composition 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 lidar 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, and 4G running memory. The example algorithm is tested...

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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 fields of robot autonomous navigation and computer graphics. The algorithm of the present invention obtains the relative pose transformation of the robot by performing inter-frame matching on the feature points extracted from the three-dimensional point cloud. The pose is recorded to form a map; then the point cloud segmentation and description algorithm is used to segment the point cloud and then saved, and the random forest algorithm is used to match the point cloud fragments to form a closed-loop constraint condition; finally, the historical pose and The map is corrected to realize the simultaneous positioning and composition of the robot. The method of the invention saves and corrects the historical pose and map while ensuring the local positioning accuracy, effectively reduces the cumulative error in the outdoor long-distance environment, and then realizes the synchronous positioning of the robot with good global consistency and composition.

Description

technical field [0001] The invention belongs to the technical fields of robot autonomous navigation and computer graphics, and in particular relates to a method for synchronous positioning and composition based on point cloud segmentation and 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 ...

Claims

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Application Information

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Patent Type & Authority Patents(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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