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Laser odometer method, system and device based on directed geometric points and sparse frames

A technology of odometer and geometry, which is applied in the field of service robots, can solve the problems of low frame image efficiency and achieve the effect of improving efficiency and efficiency

Active Publication Date: 2021-05-28
INST OF AUTOMATION CHINESE ACAD OF SCI +1
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  • Application Information

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Problems solved by technology

[0004] In order to solve the above-mentioned problems in the prior art, that is, in order to solve the problem of low efficiency of frame image matching in the existing laser odometer method, the present invention proposes a laser odometer method based on directed geometric points and sparse frames, including The following steps:

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  • Laser odometer method, system and device based on directed geometric points and sparse frames
  • Laser odometer method, system and device based on directed geometric points and sparse frames
  • Laser odometer method, system and device based on directed geometric points and sparse frames

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Embodiment Construction

[0045] In order to make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not All examples. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0046] The present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the related invention, but not to limit the invention. In addition, it should be noted that, for the convenience of description, only the parts related to the related inv...

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Abstract

The invention belongs to the technical field of service robots, and specifically relates to a laser odometer method, system and device based on directional geometric points and sparse frames, aiming to solve the problem of low frame image matching efficiency in the laser odometer method. The method of the present invention includes: obtaining the original three-dimensional point cloud data of the surrounding environment in the current frame coordinate system of the laser radar sensor; constructing the first directed geometric point set and the first environment directed geometric point set; and constructing the first directed geometric point set 1. Transform the first environment directed geometric point set into the world coordinate system to obtain the second directed geometric point set and the second environment directed geometric point set; calculate the point in the second environment directed geometric point set in the second environment directed Candidate connection points in the geometric point set, and determine the best connection point; construct a pose optimization function, and solve the optimized pose from the current frame coordinate system of the lidar sensor to the world coordinate system; update the directed geometric points of the sparse frame set. The invention improves the efficiency of frame image matching.

Description

technical field [0001] The invention relates to the technical field of service robots, in particular to a laser odometer method, system and device based on directed geometric points and sparse frames. Background technique [0002] With the rapid development of robot technology, service robots have entered people's daily production and life. In order to successfully complete the task, the robot needs to determine its own position. Researchers at home and abroad have carried out in-depth research on robot positioning. Vision sensors and lidar sensors are the two main types of sensors that enable robot localization. The positioning methods of robots in unknown environments through visual sensors and lidar sensors are called visual odometry and laser odometry, respectively. Visual odometry is sensitive to illumination changes and viewpoint changes, and it is difficult to work effectively in low-texture environments. Compared with visual odometers, laser odometers can better ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S17/08G06T7/70
CPCG01S17/08G06T7/70G06T2207/10044G06T2207/10012G06T2200/04G06T2207/10028G06T7/73G06T7/55G06T7/246G01S17/89G01S7/4808G01S17/42
Inventor 梁爽曹志强王诚鹏李忠辉亢晋立谭民
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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