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Autonomous pose measurement method based on SLAM technology

A kind of pose measurement and technology, which is applied to measurement devices, navigation through velocity/acceleration measurement, mapping and navigation, etc., can solve problems such as difficult adaptation of SLAM, and achieve correction of long-term pose offset and reduction of attitude and positioning errors. , the effect of high application value

Active Publication Date: 2021-06-04
NAT SPACE SCI CENT CAS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] To sum up, in the application scenarios of complex environments, a large number of dynamic objects make it difficult to adapt to the current SLAM calculation, so it is a huge challenge to build a complete and effective dynamic scene visual SLAM framework

Method used

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  • Autonomous pose measurement method based on SLAM technology
  • Autonomous pose measurement method based on SLAM technology
  • Autonomous pose measurement method based on SLAM technology

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Embodiment 1

[0097] Such as figure 1 As shown, Embodiment 1 of the present invention proposes an autonomous pose measurement method based on SLAM technology. This method mainly involves three key technologies: dynamic and static separation technology for highly dynamic scenes, high-precision autonomous positioning technology for multi-source data fusion, and virtual-real scene construction and consistency matching technology.

[0098] 1. Dynamic and static separation technology for high dynamic scenes

[0099]Due to the introduction of dynamic environments, various modules such as visual SLAM positioning, map construction, and loop detection will be affected to varying degrees. The movement patterns of different moving objects are different, resulting in the existence of multiple moving object solution spaces in each link of the SLAM module. This patented technology avoids directly solving the positioning of multi-movement patterns in dynamic scenes and the three-dimensional modeling equa...

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Abstract

The invention relates to the field of remote situation awareness, in particular to an autonomous pose measurement method based on an SLAM technology, which is realized based on a visual sensor, an IMU inertial navigation sensor and a GPS sensor, and comprises the following steps: receiving point cloud data, image information, pose information and target position information of a scene to be built; carrying out object-level motion scene segmentation on the high-dynamic scene based on an improved polar geometry constraint 3D point cloud motion segmentation algorithm; performing a multi-source data positioning and attitude determination algorithm on the point cloud data, the image information, the attitude information and the target position information, performing a 2D-3D matching algorithm for the image information of the static part, a dynamic target and viewpoint position correlation estimation algorithm is adopted for the dynamic target to achieve the positioning; finally, carrying out three-dimensional point cloud scene construction on a static part in a scene to obtain accurately matched point cloud data, then carrying out dynamic object construction on a dynamic target in the scene, and carrying out global optimization on a positioning and attitude determination result in an auxiliary mode to complete the pose measurement.

Description

technical field [0001] The present invention relates to the field of remote situational awareness, and relates to a method for visual positioning and attitude determination in collaborative interactive application of SLAM technology in the field of situational awareness, and in particular to an autonomous pose measurement method based on SLAM technology. Background technique [0002] With the continuous improvement of hardware capabilities and intelligent algorithms in recent years, augmented reality technology has made great strides from the laboratory to practical applications, and has gradually entered people's field of vision. Augmented reality not only allows users to see the real world, but also can see virtual objects superimposed on the real world. It combines computer-generated graphics with visual information obtained by users in the real physical world. It has the advantages of combining virtual and real and real-time interaction. New features enable users to have...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/165G01C21/20
Inventor 谢文明李广运覃润楠彭晓东
Owner NAT SPACE SCI CENT CAS
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