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Three-dimensional laser positioning method and system

A positioning method and three-dimensional laser technology, applied in navigation computing tools and other directions, can solve problems such as low efficiency and poor positioning accuracy, and achieve the effects of increasing the number of particles, stabilizing the final pose, improving query speed and computing efficiency

Pending Publication Date: 2020-04-28
SUZHOU AGV ROBOT CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Therefore, the technical problem to be solved by the present invention is to overcome the problems of low efficiency and poor positioning accuracy in the prior art, thereby providing a three-dimensional laser positioning method and system with high efficiency and effectively improved positioning accuracy

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  • Three-dimensional laser positioning method and system

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Embodiment 1

[0024] Such as figure 1 As shown, the present embodiment provides a three-dimensional laser positioning method, including the following steps: Step S1: predict the predicted pose of the robot at a certain moment relative to the previous moment according to the data obtained by the encoder; Step S2: in the predicted pose Arrange multiple particles nearby, observe each particle, compare the observed environmental information data with the voxel distance map, and calculate the coefficient of each particle according to the similarity of the comparison; step S3: filter out the coefficients that are not The particles with the best coefficients are repeatedly filtered out until the particles with the best coefficients are found; Step S4: smoothing and filtering the poses corresponding to the particles with the best coefficients, and outputting the final pose of the robot.

[0025] The three-dimensional laser positioning method described in this embodiment, in the step S1, predict the...

Embodiment 2

[0033] Based on the same inventive idea, such as image 3 As shown, the present embodiment provides a three-dimensional laser positioning system, and its problem-solving principle is similar to the above-mentioned three-dimensional laser positioning method, and repeated descriptions will not be repeated.

[0034] The three-dimensional laser positioning system described in this embodiment includes:

[0035] The predicted pose module 10 is used to predict the predicted pose of the robot at a certain moment relative to the previous moment according to the data obtained by the encoder;

[0036] The measurement module 20 is configured to arrange a plurality of particles near the predicted pose, observe each particle, compare the observed environmental information data with the voxel distance map, and calculate the distance of each particle according to the compared similarity. coefficient;

[0037] The resampling module 30 is used to filter out the particles with poor coefficient...

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Abstract

The invention relates to a three-dimensional laser positioning method and system. The method comprises the following steps: predicting a predicted pose of a robot at a certain moment relative to a previous moment according to data acquired by an encoder; arranging a plurality of particles near the predicted pose, observing each particle, comparing the observed environment information data with a voxel distance map, and calculating the coefficient of each particle according to the similarity of comparison; filtering particles with low coefficients according to the coefficients, and carrying outcircular filtering for multiple times until the particle with the optimal coefficient is found out; and carrying out smooth filtering processing on the pose corresponding to the particle with the optimal coefficient, and outputting the final pose of the robot. According to the method, the query speed can be increased, and the positioning precision can be improved.

Description

technical field [0001] The invention relates to the technical field of robot positioning, in particular to a three-dimensional laser positioning method and system. Background technique [0002] Positioning is the most basic link for a mobile robot to achieve autonomy, and is the prerequisite for completing subsequent tasks such as navigation and path planning. Its purpose is to determine the pose (including position and attitude) of the mobile robot relative to the world coordinate system in the working environment. At present, positioning methods are mainly divided into the following three categories: relative positioning technology, absolute positioning technology, and combined positioning technology. [0003] In the positioning process, due to the performance limitations of the perception sensor itself and the interference of various uncertain factors in the operating environment, the positioning research of mobile robots has begun to rely on probability-based models to m...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 刘胜明姜志英芮青青司秀芬
Owner SUZHOU AGV ROBOT CO LTD
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