Road sign calibration instrument based on RTK + camera
A calibrator and camera technology, used in road network navigators, satellite radio beacon positioning systems, instruments, etc., can solve problems such as reduced positioning accuracy, inaccurate map construction results, and single roof environment, to prevent data loss. , easy to operate, easy to operate effect
Active Publication Date: 2020-05-01
上海点甜农业专业合作社
View PDF8 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
Among them is a method of laying artificial road signs on the roof. The roof environment is single and easy to extract, and the field of view of the camera is not easily disturbed. The location of unknown landmarks on the map, the errors in the calculation process will be accumulated and propagated backwards. When the number of top landmarks is large, the map construction results will be inaccurate, resulting in a decrease in the accuracy of positioning. Therefore, there is room for improvement
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0026] The present invention will be further described in detail below in conjunction with the embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto.
[0027] Such as figure 1 As shown, a road sign calibration instrument based on RTK+ camera, including a calibration instrument body 1, is suitable for map information collection, automatic navigation scene map creation based on road signs, etc. pose is determined.
[0028] The calibration instrument body 1 includes a fixed frame 2, a control module, a power module, an operation interface 3, a camera 4, and an RTK antenna 5. The fixed frame 2 includes a support rod 21, a first fixed plate 22, and a second fixed plate 23. The support rod 21 The two ends are respectively fixedly connected with the first fixed plate 22 and the second fixed plate 23. In this embodiment, the first fixed plate 22 and the second fixed plate 23 are both disk-shaped and arranged coaxially. , the ...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention discloses a road sign calibration instrument based on RTK + camera, and relates to the technical field of road sign position calibration. The road sign calibration instrument comprises acalibration instrument body, wherein the calibration instrument body comprises a fixing frame, a control module, a power supply module, an operation interface, a camera and an RTK antenna; a bearingspace is formed in the fixing frame; the control module and the power supply module are arranged in the bearing space; the operation interface, the camera and the RTK antenna are arranged on the top of the fixing frame; the RTK antenna is used for determining the posture information of the camera under the geodetic coordinate system; and the control module and the power supply module are electrically connected with the operation interface and the camera. Through the combination with the RTK, an operator can perform centimeter-level positioning precision measurement on the road sign in real time, so that the posture calibration of the road sign with the known road sign size under the geodetic coordinate system is realized.
Description
technical field [0001] The invention relates to the technical field of landmark position calibration, more specifically, it relates to a landmark calibration instrument based on RTK+camera. Background technique [0002] With the development of society and the advancement of technology, mobile robots are more and more widely involved in human daily life. If a mobile robot wants to achieve all the above functions, it must know its own location accurately, and the prerequisite for the robot to be able to locate in real time is to build a map, which is the key to robot navigation and other intelligent behaviors. [0003] Commonly used sensors for mobile robot mapping and positioning include cameras and lidar. Among them, the cost of laser radar hardware is relatively high, while the cost of positioning hardware using cameras is low and the positioning accuracy is high. In indoor positioning, vision-based positioning methods are widely used. Vision-based indoor positioning firs...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More IPC IPC(8): G01C11/00G01C11/02G01S19/43G01C21/32
CPCG01C11/00G01C11/02G01S19/43G01C21/32
Inventor 袁标李维钧陈柯王金悦
Owner 上海点甜农业专业合作社