VSLAM method, controller and mobile device

A technology of mobile devices and key frames, which is applied in the field of VSLAM methods, controllers and mobile devices, can solve the problems of large changes in adjacent images, inaccurate calculation results, affecting positioning and mapping results, etc., to avoid limiting problems, The effect of improving the accuracy and calculation speed and improving the success rate

Active Publication Date: 2020-08-04
SUGAN TECH BEIJING
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Problems solved by technology

In some scenarios, for example, the image acquisition period is long, or the adjacent images change greatly, and the calculation of the three-dimensional coordinates of the feature points is prone to fail, resulting in a decrease in the success rate of creating landmarks, and the number of landmarks available for matching in the database is reduced. VSLAM calculation results are not accurate enough, which will affect the final positioning and mapping results

Method used

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  • VSLAM method, controller and mobile device
  • VSLAM method, controller and mobile device
  • VSLAM method, controller and mobile device

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Embodiment Construction

[0087] Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with aspects of the invention as recited in the appended claims.

[0088] The mobile device involved in at least one embodiment of the present invention can be, for example, a cleaning robot, an accompanying mobile robot, a service mobile robot, an industrial inspection smart device, a security robot, an unmanned vehicle, a drone, and the like. Cleaning robots such as smart sweepers, smart floor mopping machines, and window cleaning robots; companion mobile rob...

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Abstract

The invention relates to a VSLAM method, a controller and a mobile device, and belongs to the field of mobile devices. According to the VSLAM method, when a visual relative pose is calculated, calculation is carried out according to two-dimensional coordinates of mutually matched feature points between a successfully matched image and a key frame. According to the invention, the success rate of calculating the visual relative pose can be improved, so that the accuracy and the operation speed are improved during positioning and mapping.

Description

technical field [0001] The invention relates to the field of mobile devices, in particular to a VSLAM method, a controller and a mobile device. Background technique [0002] Mobile equipment is a machine device that performs work autonomously or semi-autonomously, and can be applied to many scenarios. Mobile devices obtain environmental information through various sensors, and respond to environmental information accordingly, so that mobile devices can complete set tasks safely, reliably, efficiently and intelligently. [0003] Simultaneous Localization and Mapping (SLAM) means that a mobile device starts to move from an unknown position in an unknown environment. During the movement, it performs its own positioning according to its own pose and map, and at the same time, based on its own positioning Build incremental maps to enable autonomous positioning and navigation of mobile devices. [0004] Visual SLAM (Visual SLAM, VSLAM) refers to the use of visual systems by mobi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/73G01C21/20
CPCG06T7/74G01C21/20G06T2207/30252G06T7/579G01C21/1656
Inventor 李帅领迟铭张一茗陈震
Owner SUGAN TECH BEIJING
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