Instant mapping and positioning method, device and system and storage medium

Abstract

The embodiment of the invention relates to an instant mapping and positioning method, device and system, and a storage medium. The method comprises the steps: obtaining a local binocular vision imageand a local three-dimensional laser point cloud image which can be collected at present; preprocessing the local binocular vision image and the local three-dimensional laser point cloud image; acquiring a local binocular vision map pose according to the preprocessed local binocular vision image; fusing the local binocular vision map pose with the preprocessed local three-dimensional laser point cloud image to obtain a local fusion map; and performing global consistency optimization on a global map according to the local fusion map to obtain a dense point cloud map, and outputting position information and attitude information at the current moment in real time to complete instant mapping and positioning. Through the method, a dense three-dimensional point cloud image with global consistencyis output, the current position information of the dense three-dimensional point cloud image is determined in real time, and instant mapping and positioning are completed.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of robots, and in particular to a real-time mapping and positioning method, device, system and storage medium. Background technique [0002] As an interdisciplinary subject, intelligent robot integrates motion dynamics, system structure, sensing technology, control technology and other disciplines and technologies. Among these technologies, providing mobile robots for environmental perception and positioning is an essential process. Perception and positioning can feed back the current external environment information of the mobile robot and its own position and posture information in the environment, so as to further make corresponding decisions and control the motor to move forward. Real-time mapping and positioning, as an essential underlying technology for mobile intelligent robots, not only need to provide real-time positioning information for the robot, but also need to build a...

AI Technical Summary

Problems solved by technology

Since the data acquired by the 3D lidar are discrete 3D points, it is difficult to perform closed-loop detection through the discrete points, resulting in a greatly increased error, and in a less structured environment such as a charging room, the lidar SLAM is very difficult for state estimation. prone to degradation until failure

Both visual-inertial SLAM and pure visual SLA

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