Intelligent navigation method, device and equipment

Abstract

The invention discloses an intelligent navigation method, device and equipment, and belongs to the crossing field of a wireless positioning technology and a robot technology. The method comprises the following steps: S1, collecting an environment image, and obtaining an original visual feature in the environment image; S2, taking distance angle information obtained by wireless measurement as reference information, and screening the original visual features to obtain target visual features; S3, initializing the position of a wireless signal source in an environment and the bias of wireless measurement by using target visual features based on IMU measurement; S4, estimating motion state information by using the measurement result of the wireless measurement, the measurement result of the IMU measurement and the target visual feature, wherein the motion state information comprises a state variable, the depth of the visual feature point and the bias of the wireless measurement; and S5, performing navigation according to the motion state information and the three-dimensional information corresponding to the visual features in the environment. According to the invention, the reliability of visual information in the weak texture environment can be improved, and accurate navigation in the weak texture environment is further realized.

Description

technical field [0001] The invention belongs to the intersection field of wireless positioning technology and robot technology, and more specifically relates to an intelligent navigation method, device and equipment. Background technique [0002] In recent years, the navigation technology of intelligent navigation equipment such as robots, which has developed rapidly in recent years, can replace people to perform various tasks to reduce the danger of human life and improve work efficiency. For example: robots can help firefighters search for survivors in dangerous buildings, and can increase the efficiency of warehouse inventory by 30 times through aerial scanning. The basic requirement of these applications is that intelligent navigation equipment can safely and effectively perform tasks through precise control in various complex environments. The ability to precisely control complex environments is endowed by robust state estimation. The goal of state estimation is to es...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the above defects or improvement needs of the prior art, the present invention provides an intelligent navigation method, device and equipment, the purpose of which is to solve the problem of being unable to support high-precision navigation in a weak texture environment

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