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Method and device for simultaneous localization and mapping

A technology for map construction and positioning images, which is applied in the directions of measuring devices, image enhancement, image analysis, etc., can solve the problems of inaccurate positioning and difficulty in obtaining camera pose information accurately, and achieve precise navigation maps, accurate poses, and improved The effect of accuracy

Active Publication Date: 2020-08-25
北京轩宇空间科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The existing visual SLAM technology is difficult to accurately obtain the pose information of the camera, resulting in inaccurate positioning

Method used

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  • Method and device for simultaneous localization and mapping
  • Method and device for simultaneous localization and mapping

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Embodiment Construction

[0019] In order to understand the characteristics and technical content of the embodiments of the present disclosure in more detail, the implementation of the embodiments of the present disclosure will be described in detail below in conjunction with the accompanying drawings. The attached drawings are only for reference and description, and are not intended to limit the embodiments of the present disclosure. In the following technical description, for purposes of explanation, numerous details are set forth in order to provide a thorough understanding of the disclosed embodiments. However, one or more embodiments may be practiced without these details. In other instances, well-known structures and devices may be shown simplified in order to simplify the drawings.

[0020] The terms "first", "second" and the like in the description and claims of the embodiments of the present disclosure and the above drawings are used to distinguish similar objects, and are not necessarily used...

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Abstract

The invention relates to the technical field of robots and intelligent equipment, and discloses a method for simultaneous positioning and map construction. The method comprises the following steps: acquiring a to-be-positioned image and corresponding depth information; obtaining an estimated pose of the to-be-positioned device according to the to-be-positioned image and the depth information corresponding to the to-be-positioned image; acquiring a first map point according to the to-be-positioned image; acquiring a first feature point corresponding to the first map point on the to-be-positioned image; and optimizing the estimated pose according to the reprojection error and the depth error of the first map point and the first feature point to obtain a first optimized pose. According to themethod, the obtained pose can be more accurate, so that the positioning accuracy of the to-be-positioned equipment is improved, and a more accurate navigation map can be obtained when the navigationmap is constructed. The invention further discloses a device for simultaneous positioning and map building.

Description

technical field [0001] The present application relates to the technical field of robots and intelligent equipment, for example, to a method and device for simultaneous positioning and map construction. Background technique [0002] At present, SLAM (Simultaneous Localization And Mapping, simultaneous positioning and map construction) technology is used to generate environmental maps and autonomously position robots, which provides a solid foundation for subsequent robots to perform path planning, autonomous exploration, and navigation, and is an important part of robots. component. Vision-based SLAM technology can provide rich scene information and realize positioning. Visual SLAM refers to the SLAM technology that uses the camera as the main sensor. [0003] In the process of implementing the embodiments of the present disclosure, it is found that at least the following problems exist in related technologies: [0004] The existing visual SLAM technology is difficult to a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/70G06T7/50G01C21/00
CPCG06T7/70G06T7/50G01C21/005G06T2207/30184Y02T10/40
Inventor 谷晓琳杨敏张燚曾峥刘科
Owner 北京轩宇空间科技有限公司
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