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Positioning method and device, storage medium and electronic device

A positioning method and storage medium technology, applied in the fields of positioning methods and devices, electronic devices, and storage media, capable of solving problems such as poor positioning accuracy and invalid positioning information

Pending Publication Date: 2020-07-07
NINEBOT
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Embodiments of the present invention provide a positioning method and device, a storage medium, and an electronic device, so as to at least solve the problem of failure of certain positioning information or poor positioning accuracy in some scenarios in the related art

Method used

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  • Positioning method and device, storage medium and electronic device
  • Positioning method and device, storage medium and electronic device
  • Positioning method and device, storage medium and electronic device

Examples

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Embodiment 1

[0046] Embodiment 1: In this embodiment, a mobile robot equipped with a vision camera and a depth camera is taken as an example for illustration. For example, a mobile robot moves in the corridors of an office building. There are more narrow and long corridors in the office building. The texture of the white walls in the corridors is weak. There will be a large drift when using the visual camera for positioning, and the depth camera performs very well in this environment. Well, the output positioning accuracy is higher and the error is small. The vision camera and the depth camera obtain the positioning map at the same time to obtain the first positioning map and the second positioning map, and obtain the first positioning information and the second positioning information based on the first positioning map and the second positioning map. The first positioning information and the second positioning information are fused by using an extended Kalman filter EKF to obtain third po...

Embodiment 2

[0047] Embodiment 2: In this embodiment, a mobile robot equipped with a vision camera and a Lidar is taken as an example for illustration. For example, a mobile robot runs in a hall, where the hall is relatively spacious and the light changes greatly. The mobile robot can use the visual camera to obtain basic positioning information; when the mobile robot is close to the wall, it uses Lidar to correct the positioning of the visual camera to prevent movement. The robot hits the wall.

[0048] In summary, the whole process of this embodiment is as follows: 1) using the visual camera and the preset sensor to obtain the first positioning map; 2) using the Lidar and the preset sensor to obtain the second positioning map; 3) matching the first positioning map and the second positioning map, calculate the relative transformation of the first positioning map and the second positioning map; 4) synchronously use the visual camera and Lidar to obtain the first positioning information and...

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Abstract

The invention provides a positioning method and device, a storage medium and an electronic device. The method comprises the steps: respectively determining the positioning information identified by afirst positioning graph and a second positioning graph in a preset coordinate system, and obtaining the first positioning information and second positioning information, wherein the first positioninggraph and the second positioning graph are positioning images obtained in different modes in the same scene; fusing the first positioning information and the second positioning information to obtain third positioning information; and performing positioning based on the third positioning information. According to the invention, the problem that a certain piece of positioning information is invalidor the positioning precision is poor in a part of scenes is solved, and an accurate positioning effect is achieved.

Description

technical field [0001] The present invention relates to the field of positioning, in particular to a positioning method and device, a storage medium, and an electronic device. Background technique [0002] When performing positioning, different scenes use different positioning devices for positioning. There is a big difference between indoor positioning and outdoor positioning. The indoor environment is relatively closed, and usually requires high positioning accuracy, and positioning information cannot be accurately obtained through common positioning tools such as GPS. For example, in the process of using a navigation device (such as a mobile robot) for navigation in an indoor environment, the positioning information cannot be accurately obtained in some scenes where the environmental texture is single and the light intensity changes greatly, thus affecting the positioning accuracy and navigation performance. , can not meet the navigation needs. [0003] For the above-me...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01S17/46
CPCG01S17/46G01C21/1656G01C21/1652G01S17/86G01S17/89G06T7/73G06T7/77G06T2200/28G06T2207/10004G06T2207/20212G06T2207/30204G06T2207/30244G06F18/24155
Inventor 林煜凯槐建柱
Owner NINEBOT
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