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Positioning method and device in indoor dynamic scene

A positioning method and positioning device technology, applied in the field of positioning methods and devices in indoor dynamic scenarios, can solve the problems of difficulty in feature point selection and poor positioning effect, and achieve the effect of optimizing positioning information

Inactive Publication Date: 2020-02-21
BEIJING YINGPU TECH CO LTD
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  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The above-mentioned feature point comparison algorithms in the visual field are mostly aimed at static environments. In environments such as human movement or other dynamic events, the selection of feature points is very difficult, and the positioning effect is not good.

Method used

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  • Positioning method and device in indoor dynamic scene
  • Positioning method and device in indoor dynamic scene
  • Positioning method and device in indoor dynamic scene

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Experimental program
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Embodiment Construction

[0044] figure 1 It is a flowchart of a positioning method in an indoor dynamic scene according to an embodiment of the present application. see figure 1 , the method includes:

[0045] 101: In an indoor dynamic scene, obtain the current frame in real time;

[0046] 102: Determine the matching image features between the current frame and the previous frame, and estimate the transformation matrix between the current frame and the previous frame according to the matching image features;

[0047] 103: Calculate the matching percentage between the current frame and the previous frame according to the transformation matrix, and when the percentage is less than the specified threshold, use the axle odometer to update the global pose;

[0048] 104: Detect whether key points are passed during the movement process, and if so, refine the global pose.

[0049] In this embodiment, optionally, detecting whether a key point is passed during the movement includes:

[0050] According to the...

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Abstract

The invention discloses a positioning method and device in an indoor dynamic scene and relates to the field of indoor positioning. The method comprises a step of acquiring a current frame in real timein the indoor dynamic scene, a step of determining matched image features between the current frame and a previous frame and estimating a transformation matrix between the current frame and the previous frame according to the matched image features, a step of calculating the matching percentage of the current frame and the previous frame according to the transformation matrix and updating a global pose by adopting an axle odometer when the percentage is smaller than a specified threshold value, and a step of detecting whether a key point is passed or not in a movement process and refining theglobal pose if so. The device comprises an obtaining module, a matching module, an updating module and a refining module. According to the invention, the indoor positioning is carried out in the presence of obstacles and dynamic events, the positioning information is optimized through the key point of a known space, and a more optimized result is obtained in a specific scene in combination with the axle odometer.

Description

technical field [0001] The present application relates to the field of indoor positioning, in particular to a positioning method and device in an indoor dynamic scene. Background technique [0002] Robots are used in many different fields. A practical function is to allow the robot to know its current posture in this environment. In fact, this has always been a part of SLAM (Simultaneous Localization And Mapping, instant positioning and map construction) research. very core content. [0003] The localization of a mobile robot means that the robot knows its own attitude at any given moment. The robot may rely on a variety of sensors, such as axle odometry based on wheel axle odometry, laser odometry based on lidar , image odometry based on image sensors, positioning methods based on GPS ((Global Positioning System, Global Positioning System), etc. For vSLAM (Visual Simultaneous Localization And Mapping, real-time positioning and map construction based on vision) calculation ...

Claims

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Application Information

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IPC IPC(8): G01C21/20G01C21/00G06T7/33
CPCG01C21/005G01C21/206G06T2207/10016G06T7/33
Inventor 吉长江
Owner BEIJING YINGPU TECH CO LTD
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