SLAM back-end processing method and device and computer readable storage medium
A back-end processing and adjusted technology, which is applied in the field of image processing, can solve the problems of influence, lower positioning accuracy and map consistency, and cannot fully ensure the effect of map construction, so as to achieve the effect of improving consistency and eliminating discontinuity
Pending Publication Date: 2020-12-08
ZHEJIANG DAHUA TECH CO LTD
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[0003] Currently, two-dimensional laser-based simultaneous localization and map construction (SLAM, Simultaneous Localization And Mapping) schemes are mainly divided into filtering-based methods and graph-based optimization methods. Manual processing solutions, these solutions can be divided into two categories: filtering-based mapping optimization method and graph optimization-based mapping optimization method, filtering-based mapping optimization method does not have closed-loop detection, so the mapping process Errors will gradually accumulate in the process, and when the mapping range is relatively large, large errors will be generated; in the optimization method based on graph optimization, the elimination of accumulated errors mainly depends on the closed-loop detection of the front-end part, but the closed-loop detection cannot The correctness of each detection is fully guaranteed, and the wrong closed loop will seriously affect the correct results of the backend, which will significantly reduce the positioning accuracy and the consistency of the map
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[0016] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.
[0017] see figure 1 , figure 1 It is a schematic flow diagram of an embodiment of the SLAM back-end processing method provided by the present application, and the method includes:
[0018] Step 11: Receive the map data to be processed and the response data.
[0019] Can receive the map data to be processed sent by other devices, or read the map data to be processed from the storage device, or can also receive the map data to be processed input by the user,...
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The invention discloses an SLAM back-end processing method and device and a computer readable storage medium, and the method comprises the steps: receiving to-be-processed map data and response data,wherein the to-be-processed map data comprises point cloud data and a pose sequence corresponding to the point cloud data, and response data comprises the information of a plurality of line segments;based on the information of the plurality of line segments and the first point cloud data near the plurality of line segments, adjusting the positions of the plurality of line segments to obtain second point cloud data near the plurality of adjusted line segments and a corresponding first pose sequence; adjusting the first pose sequence to obtain a second pose sequence; processing the second posesequence to obtain a third pose sequence, so that the third pose sequence is continuous; and performing joint optimization based on the third pose sequence and the received preset constraints to obtain new map data. In this way, the consistency of SLAM mapping can be improved.
Description
technical field [0001] The present application relates to the technical field of image processing, in particular to a SLAM back-end processing method, device and computer-readable storage medium. Background technique [0002] A mobile robot is a robot with a high degree of self-planning, self-organization and self-adaptive capabilities. At present, mobile robots have shown more and more extensive application prospects in various industries; in the research of related technologies of mobile robots, navigation and positioning technology It is the core and key of its research, and it is also the key to realize the intelligentization of mobile robots. Mapping is an important basis for robots to achieve positioning. To realize the functions of automatic driving and automatic navigation, robots first need to obtain accurate maps, and then combine sensors The data realizes real-time positioning. [0003] Currently, two-dimensional laser-based simultaneous localization and map cons...
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IPC IPC(8): G06F16/29
CPCG06F16/29Y02T10/40
Inventor 王坤林辉卢维殷俊
Owner ZHEJIANG DAHUA TECH CO LTD