SLAM drawing method and system based on multi-sensor fusion

A multi-sensor fusion and sensor technology, applied in radio wave measurement systems, satellite radio beacon positioning systems, instruments, etc., can solve the problems of large errors and low precision

Active Publication Date: 2020-08-21
BEIJING GREEN VALLEY TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] In view of this, the object of the present invention is to provide a SLAM mapping method and system based on multi-sensor fusion, so ...

Method used

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  • SLAM drawing method and system based on multi-sensor fusion
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  • SLAM drawing method and system based on multi-sensor fusion

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Embodiment 1

[0027] figure 1It is a flow chart of a SLAM mapping method based on multi-sensor fusion provided according to an embodiment of the present invention, and the method is applied to a server. Such as figure 1 As shown, the method specifically includes the following steps:

[0028] Step S102, acquiring multiple sensor data about the surrounding environment of the mobile platform; the multiple sensor data include: point cloud data, image data, IMU data and GNSS data.

[0029] Specifically, the point cloud information of the surrounding environment is collected through the laser to obtain point cloud data; the image information is collected through the camera to obtain image data; the angular velocity and acceleration of the mobile platform are obtained through the IMU to obtain IMU data; the absolute latitude and longitude at each moment is obtained through GNSS Coordinates to get GNSS data.

[0030] Step S104, performing hierarchical processing on multiple sensor data to genera...

Embodiment 2

[0095] Figure 6 It is a schematic diagram of a SLAM mapping system based on multi-sensor fusion provided according to an embodiment of the present invention, and the system is applied to a server. Such as Figure 6 As shown, the system includes: an acquisition module 10 , a layer processing module 20 , a positioning module 30 , a first generation module 40 and a second generation module 50 .

[0096] Specifically, the acquiring module 10 is configured to acquire multiple sensor data about the surrounding environment of the mobile platform; the multiple sensor data include: point cloud data, image data, IMU data and GNSS data.

[0097] The hierarchical processing module 20 is configured to perform hierarchical processing on multiple sensor data to generate multiple positioning information; wherein one sensor data corresponds to one positioning information.

[0098] The positioning module 30 is configured to obtain target positioning information of the mobile platform based o...

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Abstract

The invention provides an SLAM drawing method and system based on multi-sensor fusion, and the method and system are used for a server. The method comprise the steps of: acquiring multiple sensor dataof a mobile platform related to the surrounding environment, wherein the multiple sensor data comprises point cloud data, image data, IMU data and GNSS data; performing hierarchical processing on themultiple sensor data to generate a plurality of pieces of positioning information; wherein one sensor data corresponds to one piece of positioning information; acquiring target positioning information of the mobile platform based on the plurality of pieces of positioning information; generating a local high-precision map based on the target positioning information; and performing closed-loop detection operation on the local high-precision map to obtain a high-precision global map of the mobile platform. The technical problem of low precision due to easy limitation by the surrounding environment in the prior art is eased.

Description

technical field [0001] The invention relates to the technical field of navigation multi-sensor fusion, in particular to a SLAM mapping method and system based on multi-sensor fusion. Background technique [0002] SLAM (SIMUltaneous Localization And Mapping) technology refers to real-time positioning and map construction, that is, by processing the surrounding environment data collected by sensors, real-time feedback of the position of the current motion system in the unknown environment and drawing a map of the surrounding environment of the motion system at the same time, this map can be 2D plane map, also can be 3D surrounding environment map. It has been widely used in robotics, autonomous driving, virtual reality, surveying and mapping, agriculture, forestry, electric power, construction and other industries. Currently commonly used sensor units include lasers, inertial navigation systems (Inertial Measurement Unit, IMU), visual cameras, and global navigation satellite ...

Claims

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Application Information

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IPC IPC(8): G01C21/00G01C21/16G01S19/45G01S19/47
CPCG01C21/005G01C21/165G01S19/45G01S19/47G01S5/16G01S19/485G01S19/49G01C25/00G01C21/1652G01C21/1656G01C21/3837G01C21/3848G06T7/579G06T2207/30244G06T2207/10016
Inventor 刘继廷其他发明人请求不公开姓名
Owner BEIJING GREEN VALLEY TECH CO LTD
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