Robot, repositioning method thereof, positioning device and storage medium

A robot and relocation technology, applied in the field of robotics, achieves the effects of fast computing speed, less resource occupation, and high feature extraction accuracy

Pending Publication Date: 2021-07-13
北京云迹科技股份有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The present invention provides a robot and its repositioning method, a positioning device and a storage medium to solve or partially solve the technical problem of how to improve the repositioning accuracy of the robot in an environment with changing illumination when the robot fails to be positioned

Method used

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  • Robot, repositioning method thereof, positioning device and storage medium
  • Robot, repositioning method thereof, positioning device and storage medium
  • Robot, repositioning method thereof, positioning device and storage medium

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Embodiment Construction

[0053] In order to enable those skilled in the technical field to which the application belongs to understand the application more clearly, the technical solutions of the application will be described in detail below through specific embodiments in conjunction with the accompanying drawings. Throughout the specification, unless otherwise specified, terms used herein should be understood as commonly used in the art. Therefore, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. In case of conflict, this specification shall take precedence. Unless otherwise specified, various equipment used in the present invention can be purchased from the market or prepared by existing methods.

[0054] Through further research, it is found that the failure of laser SLAM positioning is easy to appear in long corridors, garages, restaurants and other scenes. Th...

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Abstract

The invention discloses a repositioning method of a robot. The method comprises the following steps: acquiring a feature map comprising feature points, feature descriptors and historical poses of each historical frame image of the robot; when the robot positioning fails, acquiring a current frame image of an environment where the robot is located; inputting the current frame image into the convolutional neural network model for feature extraction to obtain feature points and feature descriptors of the current frame image; determining feature points and feature descriptors of a target historical frame image matched with the current frame image according to feature points and feature descriptors of each historical frame image and the current frame image; performing feature point matching according to the feature points and the feature descriptors of the target historical frame image and the current frame image to obtain a feature point corresponding relation; determining the actual pose of the robot according to the corresponding relation of the feature points and the historical pose of the robot in the target historical frame image. According to the method, the repositioning precision of the robot in an environment with illumination variation can be improved.

Description

technical field [0001] The present application relates to the technical field of robots, and in particular to a robot and its repositioning method, positioning device and storage medium. Background technique [0002] At present, the robot is usually positioned by GPS outdoors, and laser SLAM (Simultaneous Localization and Mapping, real-time positioning and mapping technology) or visual SLAM is usually used indoors to build maps and locate. The robot can walk accurately only after the positioning is successful. If the positioning If it fails, the robot cannot function normally. Laser SLAM technology is relatively mature. Relying on its high-precision obstacle detection ability, it has become the most mainstream and stable positioning and navigation method at present, but its cost is relatively high. The information obtained from the environment is only pure distance information, relying on the probability of particle filtering. Positioning in a distributed manner is prone to...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/73G06K9/46G06K9/62G06N3/04G06N3/08
CPCG06T7/73G06N3/08G06V10/40G06N3/045G06F18/22
Inventor 李梦男支涛
Owner 北京云迹科技股份有限公司
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