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Grid map positioning method fusing NDT and ICP

A positioning method and grid map technology, applied in the field of positioning, can solve the problems of limiting the scope of use of robots and increasing costs, and achieve the effect of shortening execution time and improving accuracy

Pending Publication Date: 2021-04-06
哈尔滨工业大学芜湖机器人产业技术研究院
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AI Technical Summary

Problems solved by technology

[0003] In the existing solutions for robot positioning, most of the robot positioning is realized by various labels in the surrounding scenes, such as pasting two-dimensional codes or reflectors, etc., which require frequent maintenance. increased cost

Method used

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  • Grid map positioning method fusing NDT and ICP
  • Grid map positioning method fusing NDT and ICP
  • Grid map positioning method fusing NDT and ICP

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Embodiment Construction

[0040] The specific implementation of the present invention will be described in further detail below by describing the embodiments with reference to the accompanying drawings, so as to help those skilled in the art have a more complete, accurate and in-depth understanding of the inventive concepts and technical solutions of the present invention.

[0041] The invention aims to solve the problem of relocation of the mobile robot after abnormal situations such as "kidnapping" or restarting, and realize precise positioning only through laser sensors. The general idea of ​​the present invention is: the global map point cloud and the current laser frame point cloud use the NDT algorithm to obtain the initial pose, and then use the ICP algorithm to obtain the current laser radar pose to realize relocation. On the basis of the relocation results, two adjacent frames of laser point cloud data are used to fuse NDT and ICP algorithms to achieve continuous positioning.

[0042] The grid...

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Abstract

The invention discloses a grid map positioning method fusing NDT and ICP, and the method comprises the following steps: S1, obtaining the initial pose of a laser radar through employing an NDT algorithm for a last frame of laser point cloud and a current laser frame of point cloud; and S2, matching the point cloud of the current laser frame with the laser point cloud of the previous frame based on the initial pose, and obtaining the current pose of the laser radar. The repositioning problem of the mobile robot after abnormal conditions such as'binding 'or restarting and the like occurs is solved, and accurate positioning is realized only through a laser sensor.

Description

technical field [0001] The invention belongs to the technical field of positioning, and more specifically, the invention relates to a grid map positioning method integrating NDT and ICP. Background technique [0002] With the development of artificial intelligence technology, mobile robots can be seen everywhere in the fields of automated factories, intelligent warehousing and logistics, and home services, completing various complex tasks through autonomous positioning and navigation. Therefore, positioning technology is crucial. When the mobile robot restarts or is suddenly "kidnapped" to another location, the robot cannot locate its pose, so fast and accurate relocation becomes the key. [0003] In the existing solutions for robot positioning, most of the robot positioning is realized by various labels in the surrounding scenes, such as pasting two-dimensional codes or reflectors, etc., which require frequent maintenance. Increased costs. Laser SLAM positioning and navi...

Claims

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Application Information

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IPC IPC(8): G01S17/06G01S17/88G01S17/89G01S7/48G01C21/00G06F16/29
CPCG01S17/06G01S17/88G01S17/89G01S7/4802G01C21/005G06F16/29
Inventor 伍永健陈智君郝奇
Owner 哈尔滨工业大学芜湖机器人产业技术研究院
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