A visual map generation method for mobile robots based on binocular images

A mobile robot and map generation technology, applied in the field of visual maps, can solve problems such as time-consuming and poor results, and achieve the effect of wide application range, solving negative effects, and strong robustness.

Active Publication Date: 2022-08-02
HUNAN UNIV
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Problems solved by technology

However, this mapping method still has a large amount of attitude drift. At the same time, due to multiple smoothing calculations in the incremental process, not only the calculation results are not good, but the process is often time-consuming.

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  • A visual map generation method for mobile robots based on binocular images
  • A visual map generation method for mobile robots based on binocular images
  • A visual map generation method for mobile robots based on binocular images

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Embodiment Construction

[0078] In order to make those skilled in the art better understand the technical solutions of the present invention, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments. and features of the embodiments may be combined with each other.

[0079] combine Figure 1 to Figure 3 As shown, the present invention provides a method for generating a visual map of a mobile robot based on a binocular image, which specifically includes the following steps:

[0080] S1. Construct the front-end module of the visual map generation method, which is specifically expressed as:

[0081] S11. Using a binocular camera, in a scene where a map needs to be established, a series of pictures are collected as scene samples, and the binocular camera is used for binocular targeting before use;

[0082] S12, select a binocular picture sequence with a certain interval length, and extract the SIFT visual feature points and descr...

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Abstract

The invention discloses a method for generating a visual map of a mobile robot based on binocular images. Specifically, according to the visual features of binocular sequence pictures, relevant images are visually matched and loop detection is performed. At the same time, in order to better restore the scene scale, the The binocular baseline constraint is improved, and the parameterized expression of point cloud is improved. A mapping initialization algorithm, incremental algorithm and corresponding global smoothing adjustment process designed for binocular camera are designed. Compared with the existing binocular mapping method, the method of the present invention has faster speed and lower complexity. Compared with the mapping algorithm based on SLAM, the map drift is smaller, and it has more scene robustness and enhances the complex environment. It can meet the needs of existing robot scene composition, and has high scalability. It can combine the output results of SLAM to speed up the whole process of mapping, and can further enhance the robustness.

Description

technical field [0001] The invention belongs to the technical field of visual maps, and in particular relates to a method for generating a visual map of a mobile robot based on a binocular image. Background technique [0002] Recovering the structure of a scene from a series of pictures to build a map for localization is one of the key problems in robot navigation. Recovering the scene structure from motion is to use the observation information generated by the motion to the sensor, and gradually use the information of the multi-view geometry to calculate the position of the sensor itself and restore the coordinates of the map point. The challenges are as follows: [0003] (1) The traditional visual SLAM (Simultaneous Localization and Mapping) algorithm is often highly dependent on texture in terms of accuracy and robustness, but also has problems such as poor accuracy, insufficient closed loop, and cumulative error in attitude. In some extreme cases (such as machine colli...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T17/05
CPCG06T17/05G06T2200/04
Inventor 王耀南李臻毛建旭朱青张辉缪志强
Owner HUNAN UNIV
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