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Multi-sensor fusion slam system and robot

A multi-sensor fusion and key-frame technology, applied in the field of robotics, can solve problems such as failure, achieve accurate calculation of pose, improve robustness, and reduce the amount of calculation

Active Publication Date: 2022-06-07
SHENZHEN PUDU TECH CO LTD
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Problems solved by technology

However, pure lidar systems have their drawbacks and they fail in environments with repetitive structures such as tunnels or corridors

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  • Multi-sensor fusion slam system and robot
  • Multi-sensor fusion slam system and robot
  • Multi-sensor fusion slam system and robot

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Embodiment Construction

[0027] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, the same reference numerals are assigned to the same components, and overlapping descriptions are omitted. In addition, the drawings are only schematic diagrams, and the ratios of the dimensions of the members, the shapes of the members, and the like may be different from the actual ones.

[0028] Embodiments of the present invention relate to a multi-sensor fusion SLAM system and a robot.

[0029] like figure 1 As shown, the multi-sensor fusion SLAM system 100 operates on a mobile robot. It includes: a visual inertial module 10 , a laser scanning matching module 20 , a closed-loop detection module 30 , and a visual laser map optimization module 40 . The visual inertial module 10 is used for outputting pose information. The laser scanning matching module 20 uses the pose information as an initial value, ma...

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Abstract

The present invention provides a multi-sensor fusion SLAM system and a robot. The system runs on a mobile robot and includes: a visual inertial module, a laser scanning matching module, a closed-loop detection module, and a visual laser image optimization module. According to the multi-sensor fusion SLAM system and robot provided by the present invention, the use of voxel submaps can reduce the calculation amount of laser matching constraint optimization, making the calculation of pose more accurate, and the accumulated errors of the system for a long time can be fully fused by each module and solved in time. It has been repaired, and the robustness of the system and the accuracy of positioning and mapping have been improved overall.

Description

technical field [0001] The invention relates to the technical field of robotics, in particular to a multi-sensor fusion SLAM system and a robot. Background technique [0002] SLAM technology has been widely studied in the past few decades. Although SLAM technology solves the simultaneous positioning and map construction of robots in unknown environments, there are still challenges in dealing with diverse environments and long-term continuous operation. SLAM can run on a wide variety of sensors. In the past few years, lidar-based SLAM systems have been more popular than vision-based systems due to their robustness to environmental changes. However, pure lidar systems have their downsides and they fail in environments with repetitive structures such as tunnels or corridors. SUMMARY OF THE INVENTION [0003] In these challenging environments, localization and mapping need to take full advantage of the various sensors. [0004] In view of this, the purpose of the present in...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0257G05D1/027G01C21/1652G06V10/82G06V20/52G01S17/86G01S17/89G01C21/1656G01S17/42G01S7/4808B25J9/161B25J9/162B25J9/163B25J9/1697
Inventor 何科君陈美文郭璁
Owner SHENZHEN PUDU TECH CO LTD
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