Method for improving 2D-SLAM precision and stability based on characteristic road sign
A technology of stability and road marking, applied in the re-radiation of electromagnetic waves, character and pattern recognition, and utilization of re-radiation, etc., can solve the problems of low positioning accuracy and no guarantee of robustness, and achieve improved robustness and accuracy. Reliable pose output, not easy to lose the effect of positioning
Pending Publication Date: 2021-02-05
安歌智慧科技(上海)有限公司
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[0004] The purpose of the present invention is to propose a method for improving the accuracy and stability of 2D-SLAM based on feature landmarks in order to solve the above-mentioned 2D-SLAM technology’s problem that the robustness of positioning is not guaranteed and the positioning accuracy is low, which has the robustness of robot positioning Rod and precision, the advantages of stable and reliable pose output
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[0029] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0030] Such as figure 1 As shown, a method for improving the accuracy and stability of 2D-SLAM based on feature landmarks includes the following steps:
[0031] Step S101, in the process of building a map in the laser scanning environment, cluster the laser points to generate a cluster point set, use the environment with densely distributed cluster points as a stable environment, and use the open source algorithm hector to compose the map. During the compositi...
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The invention discloses a method for improving 2D-SLAM precision and stability based on a characteristic road sign, and belongs to the technical field of instant positioning and map construction. Themethod comprises the steps: carrying out the clustering of laser points in a laser scanning environment map construction process, generating a clustering point set, and enabling an environment with densely distributed clustering points to serve as a stable environment; carrying out outlier calculation on laser clustering points in the stable environment, extracting a clustering point set conforming to the feature contour to serve as a feature road sign, and storing the clustering point set data in the feature road sign set; in the positioning process, scanning a characteristic road sign according to the laser pose, performing absolute pose query in a road sign set, performing laser point cloud matching after conditions are met to obtain a pose transformation matrix, updating the current characteristic road sign in the characteristic road sign set, and deleting the original road sign; and correcting the pose in the constructed environment map according to the pose variation. Characteristic road signs are extracted and fused through laser information, and accurate and stable positioning is carried out.
Description
technical field [0001] The invention belongs to the technical field of real-time positioning and map construction, and in particular relates to a method for improving the accuracy and stability of 2D-SLAM based on feature landmarks. Background technique [0002] At present, SLAM (instant positioning and mapping technology) is more and more widely used in the mobile robot industry. 2D-SLAM technology refers to plane mapping and positioning. Compared with 3D-SLAM, there are fewer environmental features and the advantage is that it does not need to The complex calculation process does not require the gyroscope accelerometer sensor for gravity correction. The disadvantage is that the small amount of information may lead to loss of positioning. At present, 2DSLAM is mostly used in indoor scenes, and the sensor used is a 360-degree or 270-degree single-line laser radar. , There are also many open source algorithms for mapping, and the common ones are hector, gmapping, and cartogra...
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IPC IPC(8): G01S17/89G06K9/62
CPCG01S17/89G06F18/23
Inventor 姜跃君张启富
Owner 安歌智慧科技(上海)有限公司