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Closed-loop detection system, multi-sensor fusion SLAM system and robot

A multi-sensor fusion and closed-loop detection technology, applied in the field of robotics, can solve problems such as failure

Active Publication Date: 2020-06-12
SHENZHEN PUDU TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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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

Method used

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  • Closed-loop detection system, multi-sensor fusion SLAM system and robot
  • Closed-loop detection system, multi-sensor fusion SLAM system and robot
  • Closed-loop detection system, multi-sensor fusion SLAM system and robot

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Embodiment Construction

[0031] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings. In the following description, the same reference numerals are given to the same components, and repeated descriptions are omitted. In addition, the drawings are only schematic diagrams, and the ratio of dimensions between components, the shape of components, and the like may be different from the actual ones.

[0032] The embodiments of the present invention relate to a closed-loop detection system, a multi-sensor fusion SLAM system and a robot.

[0033] Such as figure 1 As shown, the closed-loop detection system 30 includes: a similarity detection unit 31 , a visual pose solving unit 32 and a laser pose solving unit 33 . The similarity detection unit 31 extracts the current key frame image descriptor, and compares it with the key frame image descriptor in the key frame data set, selects the most similar similar key frame, and inserts the similar key...

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Abstract

The invention provides a closed-loop detection system, a multi-sensor fusion SLAM system and a robot, and the system operates on a mobile robot and comprises a similarity detection unit, a visual posesolving unit and a laser pose solving unit. According to the closed-loop detection system, the multi-sensor fusion SLAM system and the robot provided by the invention, the speed and accuracy of closed-loop detection under the conditions of visual angle change, ambient brightness change, weak texture and the like of the robot can be remarkably improved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a closed-loop detection system, a multi-sensor fusion SLAM system and a robot. Background technique [0002] SLAM technology has been extensively studied in the past few decades. Although SLAM technology solves the problem of synchronous 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. Over the past few years, lidar-based SLAM systems have become more popular than vision-based systems due to their robustness to environmental changes. However, pure lidar systems have their drawbacks, and they fail in environments with repetitive structures such as tunnels or corridors. Contents of the invention [0003] When a long-running system visits the same location, in addition to being affected by moving objects, it will still b...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/73G06T7/60G06T7/521G06T7/246G01S17/02G01S17/89
CPCG06T7/73G06T7/60G06T7/521G06T7/246G01S17/89G06T2207/10016G01S7/4817G01S17/86G06T2207/20076G06T7/269G06T2207/10028G06T2207/20084Y02T10/40G06T7/579G06T7/77B25J9/161B25J9/163
Inventor 何科君陈美文郭璁
Owner SHENZHEN PUDU TECH CO LTD