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Distance-based closed-loop detection method, device, electronic device and storage medium

A closed-loop detection and distance technology, used in character and pattern recognition, image analysis, instruments, etc., can solve the problems of reduced positioning efficiency and accuracy, lack of purpose and stability, and increased matching consumption, and achieve enhanced efficiency and accuracy. , Constrain the construction to be stable and reliable, and reduce the effect of computing power

Active Publication Date: 2022-08-02
上海红星云计算科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The usual detection strategy mainly adopts the method of violent sampling or random sampling, which lacks certain purpose and stability.
At the same time, the large number of detected samples leads to an increase in the total matching consumption, resulting in a decrease in positioning efficiency and accuracy in the actual process

Method used

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  • Distance-based closed-loop detection method, device, electronic device and storage medium
  • Distance-based closed-loop detection method, device, electronic device and storage medium
  • Distance-based closed-loop detection method, device, electronic device and storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0054] An embodiment of the present invention, such as figure 1 As shown, a distance-based closed-loop detection method includes:

[0055] S100 , based on the pose information of the current laser key frame, and according to a preset distance, determine a distance window for searching for candidate sub-images.

[0056] Specifically, in this embodiment, the key frame refers to a frame of laser data, the preset distance is the distance set according to the requirements of closed-loop detection, and the distance window is specifically the pose of the current laser key frame as the center node, with the preset distance as the center node. Set the distance as a circular area with a radius, such as a circular area with a range of 5m.

[0057] S200 acquires the candidate sub-atlas within the distance window in the historical sub-graph data set.

[0058] In this embodiment, the sub-image is a local map formed by a certain number of laser key frames, and the historical sub-image data s...

Embodiment 2

[0063] An embodiment of the present invention, such as figure 1 As shown, a distance-based closed-loop detection method includes:

[0064] S100 , based on the pose information of the current laser key frame, and according to a preset distance, determine a distance window for searching for candidate sub-images.

[0065] Specifically, in this embodiment, the key frame refers to a frame of laser data, the preset distance is the distance set according to the requirements of closed-loop detection, and the distance window is specifically the pose of the current laser key frame as the center node, with the preset distance as the center node. Set the distance as a circular area with a radius, such as a circular area with a range of 5m.

[0066] S200 acquires the candidate sub-atlas within the distance window in the historical sub-graph data set.

[0067] In this embodiment, the sub-image is a local map formed by a certain number of laser key frames, and the historical sub-image data...

Embodiment 3

[0074] An embodiment of the present invention, such as figure 1 As shown, a distance-based closed-loop detection method includes:

[0075] S100 , based on the pose information of the current laser key frame, and according to a preset distance, determine a distance window for searching for candidate sub-images.

[0076] Specifically, in this embodiment, the key frame refers to a frame of laser data, the preset distance is the distance set according to the requirements of closed-loop detection, and the distance window is specifically the pose of the current laser key frame as the center node, with the preset distance as the center node. Set the distance as a circular area with a radius, such as a circular area with a range of 5m.

[0077] S200 acquires the candidate sub-atlas within the distance window in the historical sub-graph data set.

[0078] In this embodiment, the sub-image is a local map formed by a certain number of laser key frames, and the historical sub-image data...

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Abstract

The invention relates to the field of laser positioning. The invention provides a distance-based closed-loop detection method, device, electronic device and storage medium. The method includes the steps of: determining a search candidate according to a preset distance based on pose information of a current laser key frame The distance window of the graph; obtain the candidate sub-atlas located in the distance window in the historical sub-graph data set; match the current laser key frame with the sub-graphs in the candidate sub-atlas, so as to compare the current laser key frame with the sub-graphs in the candidate sub-atlas. Loop closure detection of the subgraph. Through this scheme, the sub-images within a certain distance range are actively selected as candidate sub-images based on the position of the key frame, and then the correlation relationship is established according to the corresponding matching method, and the effective matching is determined according to the corresponding continuous effective matching, and the overall optimization adjustment is carried out to reduce the total number of matching. The amount of calculation increases the efficiency and accuracy of matching.

Description

technical field [0001] The present invention relates to the field of laser positioning, in particular to a distance-based closed-loop detection method, device, electronic device and storage medium. Background technique [0002] The closed-loop detection method in the prior art usually adopts the matching method based on feature information and the method based on point cloud matching. Take the method of point cloud matching. [0003] The usual detection strategy is mainly carried out by means of violent sampling or random sampling, which lacks certain purpose and stability. At the same time, the large number of detected samples leads to an increase in the total matching consumption, which leads to a decrease in the positioning efficiency and accuracy in the actual process. SUMMARY OF THE INVENTION [0004] The purpose of the present invention is to provide a distance-based closed-loop detection method, device, electronic device and storage medium to achieve stable, accur...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/70G06V10/75G06K9/62
CPCG06T7/70G06F18/22
Inventor 王珏尧冬冬
Owner 上海红星云计算科技有限公司
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