Simultaneous positioning and mapping method for autonomous mobile platform in rescue scene

Abstract

The invention discloses a simultaneous positioning and mapping method for an autonomous mobile platform in a rescue scene, which is applied to a search and rescue autonomous mobile platform and can beused for positioning and mapping in extreme environments such as a fire rescue scene, a complex dangerous accident scene and the like. The method is mainly divided into three parts of sensor information processing, pose estimation and pose correction. The method comprises the following steps: firstly, performing operations such as deblurring and feature extraction on omnibearing image informationacquired by a four-eye camera module; secondly, fusing with the measurement information of the inertial navigation sensor and estimating the pose, and finally, carrying out global pose optimization and correction. According to the method, a full-automatic end-to-end defogging method is designed based on the convolutional neural network, a post-processing step is not needed, the application rangeis wide, and the method can be applied to defogging of indoor and natural scenes at the same time. And meanwhile, a relatively stable binocular vision SLAM method based on a feature point method is adopted to fuse IMU sensor data to perform positioning and mapping of the autonomous mobile platform.

Description

technical field

[0001] The invention belongs to the technical field of positioning and navigation of an autonomous mobile platform, and relates to a positioning and mapping method of an autonomous mobile platform in a rescue scene based on multi-camera stereo vision and an IMU sensor. Background technique

[0002] In recent years, safety issues in special environments such as fire and chemical industry have attracted more and more attention. Extreme environmental accidents, such as fire rescue sites and complex dangerous accident sites, are characterized by complexity and high risk factors, and are prone to light and smog pollution. Considering the complexity and danger of the environment, the present invention proposes an autonomous mobile platform positioning and mapping method in a rescue scene to explore the environment through autonomous positioning and mapping, and to a certain extent improves the positioning and mapping in this environment. robustness and precision. ...

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