Positioning and navigation method and device based on ground texture

Abstract

The invention provides a positioning and navigation method and device based on ground texture. The positioning and navigation method comprises: acquiring a ground texture image of a current frame; performing first registration of registration processing on the ground texture image of the current frame and the ground texture image of the reference frame, wherein the registration processing system is used for solving discrete frequency domains corresponding to feature points on frequency spectrums of two ground texture images at least through a discrete phase correlation method so as to obtain relative displacement and a relative angle between the two ground texture images; and in response to the successful first registration, determining the position information of the current frame based on the position information of the reference frame and the relative displacement and the relative angle between the reference frame and the current frame. The invention also provides a positioning andnavigation device for realizing the positioning and navigation method. The positioning navigation method and device provided by the invention have the advantages that the ground texture matching calculation speed is high, the local and global positioning is accurate, and the stability and the adaptability are higher.

Description

technical field [0001] The invention relates to the field of positioning and navigation, in particular to a positioning and navigation method and device based on ground texture image recognition. Background technique [0002] AGV (Automated Guided Vehicle) is becoming popular. The core technology of the AGV car is mainly the positioning and navigation algorithm. The mainstream positioning and navigation methods include magnetic navigation, two-dimensional code navigation, laser navigation and visual navigation. Among them, visual navigation based on ground texture is an emerging navigation method, which has wide applicability, low sensor cost and easy deployment. At present, there are ground texture navigation methods using point cloud matching, and ground texture navigation methods using phase correlation method for ground texture matching. [0003] In the current ground texture navigation method, the prior art CN101566471A discloses a ground texture navigation method ba...

AI Technical Summary

Problems solved by technology

Therefore, in actual use, either higher costs are generated, or the operating performance of the equipment is reduced.

[0005] Moreover, there are several following problems that cannot be effectively solved by existing technologies:

[0006] (1) When the car travels to an area other than the map due to failure or other factors, it will cause ground texture navigation failure;

[0007] (2) When the dynamic range of ground texture details is large (for example, there is a significant temporary oil stain on the ground, and the texture itself has low contrast), the algorithm based on point cloud matching can only find prominent feature points and ignore more important low points. Contrast information, which may solve for erroneous displacements and rotations

[0009] (4) The ground navigation algorithm has too strict requirements on the calibration accuracy of the visual sensor. In actual production, due to vibration, wear and other reasons, it is difficult to ensure that it can be used for a long time after calibration. Therefore, it is necessary to frequently calibrate the visual sensor. Subsequent maintenance costs

[0010] Therefore, there is an urgent need for a positioning and navigation method and device based on ground texture, which can overcome the problems existing in the point cloud matching and phase correlation methods of the prior art, and can also solve the problems that cannot be solved by the prior art. The problem of positioning and navigation, so as to improve the matching speed of the ground texture, improve the local and global precise positioning, so that the positioning and navigation of the AGV car has high stability and adaptability

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