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Pose map optimization method and device, equipment and medium

An optimization method and pose technology, applied in the field of robotics, can solve the problem that the given map information cannot be modified, and achieve the effect of shortening the optimization time, reducing computing resources, and enriching information

Active Publication Date: 2020-05-19
浙江欣奕华智能科技有限公司
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  • Abstract
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  • Application Information

AI Technical Summary

Problems solved by technology

However, in common scenarios, the given map information cannot be modified during the autonomous positioning process of the vision robot.

Method used

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  • Pose map optimization method and device, equipment and medium
  • Pose map optimization method and device, equipment and medium
  • Pose map optimization method and device, equipment and medium

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Embodiment Construction

[0039] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments . Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0040] figure 1 A schematic flowchart showing a pose graph optimization method, such as figure 1 As shown, the optimization method of the pose graph includes the following steps:

[0041] Step S101 , receiving the key frame after relocation when the robot performs autonomous navigation in a predetermined target map.

[0042] During specific implementation, in the scene where the robot is autonomously navigating in a given map (given targ...

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Abstract

The invention provides a pose graph optimization method and device, equipment and a medium, which are used for reserving closed-loop information for optimizing poses, enriching information in a pose graph, controlling the size of the pose graph and reducing pose graph calculation resources. The pose map optimization method comprises the following steps: receiving a key frame after repositioning when a robot performs autonomous navigation in a preset target map; when it is determined that the key frame and any map frame in the target map are closed-loop, determining a pose relationship betweenthe key frame and the map frame; and according to the pose relationship between the key frame and the map frame and the pose relationship between the key frame and a target key frame in the pose map,updating the pose relationship between the target key frame and the map frame through spatial pose conversion, the target key frame being the key frame added to the pose map most recently.

Description

technical field [0001] The present invention relates to the field of robots, in particular to a pose graph optimization method, device, equipment and medium. Background technique [0002] At present, in the process of autonomous positioning and navigation of visual robots, as time increases, the number of key frames in the pose graph continues to increase, and the time for back-end optimization is also increasing, and more computing resources are required. In the existing technology, by modifying the given map information, the size of the pose graph of the visual robot is guaranteed to remain unchanged when it is running in an environment where the graph has been built, so as to reduce the back-end optimization time and the consumption of computing resources. But in common scenarios, the given map information cannot be modified during the autonomous positioning process of the visual robot. [0003] Therefore, in a scenario where the given map information cannot be modified,...

Claims

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Application Information

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IPC IPC(8): G06K9/00G06T7/70G06F16/29G01C21/20
CPCG06T7/70G06F16/29G01C21/20G06V20/46
Inventor 刘星韩松杉张弥
Owner 浙江欣奕华智能科技有限公司
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