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Enhanced vision SLAM method and device based on WIFI

A vision-enhancing technology, applied in location-based services, specific-environment-based services, security devices, etc., can solve problems such as wrong positioning, increased computational complexity and processing time, and perception aliasing to improve accuracy The effect of speed and speed

Active Publication Date: 2020-07-24
YUNNAN POWER GRID CO LTD ELECTRIC POWER RES INST
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  • Application Information

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Problems solved by technology

[0005] The present invention provides a WIFI-based enhanced visual SLAM method and device to solve the phenomenon of perception aliasing caused by a large number of repeated symmetrical spatial structures in visual SLAM in an indoor office environment, which can easily cause wrong loopback detection It leads to wrong positioning, which increases the complexity of calculation and the problem of processing time.

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  • Enhanced vision SLAM method and device based on WIFI
  • Enhanced vision SLAM method and device based on WIFI
  • Enhanced vision SLAM method and device based on WIFI

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Embodiment Construction

[0033] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, so as to define the protection scope of the present invention more clearly.

[0034] Such as figure 1 Shown, a kind of flow chart of the enhanced visual SLAM method based on WIFI, this method comprises the following steps:

[0035] S1: Collect the first WIFI signals and cluster them into first WIFI signatures to form a corresponding regional map database. The first WIFI signals are WIFI signals in different regions collected during the visual SLAM mapping process. The first WIFI signals A WIFI signature is the WIFI signature of different regions clustered during the visual SLAM mapping process.

[0036] In the embodiment of the present application, when visual SLAM is building a map, WIFI signals in different areas are f...

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Abstract

The invention discloses an enhanced vision SLAM method and device based on WIFI. The method comprises steps of collecting first WIFI signals, and carrying out clustering to form first WIFI signatures;forming a corresponding regional map database, wherein the first WIFI signatures are WIFI signatures of different regions clustered in a visual SLAM mapping process; collecting second WIFI signals, carrying out clustering to form a second WIFI signature, wherein the second WIFI signatures are the WIFI signatures of the current regions clustered before loopback detection; traversing the regional map database based on the second WIFI signatures, calculating the similarity, obtaining the word bag with the highest similarity in the regional map database, and performing loopback detection according to the word bag. By combining WIFI induction with visual SLAM, WIFI data are processed in advance and image data are processed again before loopback detection, the effect of coarse adjustment and fine adjustment can be achieved, the accuracy and speed of loopback detection are greatly improved, and the method has the remarkable advantages of being accurate, efficient and the like.

Description

technical field [0001] The present invention relates to the technical field of indoor navigation positioning and mapping methods, in particular to a WIFI-based enhanced visual SLAM method and device. Background technique [0002] SLAM is the abbreviation of Simultaneous localization and mapping, which means synchronous positioning and mapping. It is mainly used to solve the problem of positioning and map construction when the robot moves in an unknown environment. SLAM techniques that only utilize cameras as external perception sensors are called visual SLAM. Classic visual SLAM generally includes front-end visual odometer, back-end optimization, loop detection and building Figure four main part. [0003] In the existing technology, robots or other mobile devices are deployed in unknown environments such as urban areas. When used in telecommuting, augmented reality (AR, Augmented Reality) and service applications, etc., they can locate and identify themselves The surround...

Claims

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Application Information

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IPC IPC(8): H04W4/02H04W4/33H04W12/00H04W12/04H04W24/02G06F16/2455G06F16/29G06K9/62
CPCH04W4/02H04W4/33H04W12/04H04W24/02G06F16/2455G06F16/29H04W12/63G06F18/23
Inventor 于虹沈龙
Owner YUNNAN POWER GRID CO LTD ELECTRIC POWER RES INST