Indoor navigation method and system based on laser and vision fusion SLAM technology

An indoor navigation and vision technology, applied in surveying and mapping and navigation, navigation, navigation computing tools, etc., to achieve the effect of reducing storage, reducing calculation, and enhancing real-time performance

Pending Publication Date: 2021-08-10
WUHAN UNIV OF SCI & TECH
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Problems solved by technology

However, each SLAM technology has its defects, so the technology of integrating multiple sensors needs to be developed urgently

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  • Indoor navigation method and system based on laser and vision fusion SLAM technology
  • Indoor navigation method and system based on laser and vision fusion SLAM technology

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Embodiment Construction

[0040] The principles and features of the present invention will be described below in conjunction with specific embodiments, and the examples given are only used to explain the present invention, and are not intended to limit the scope of the present invention. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field of the invention. The terminology used herein in the description of the present invention is only for the purpose of describing specific embodiments, and is not intended to limit the present invention. Certain terms are used in the description and claims to refer to specific components. Those skilled in the art should understand that hardware manufacturers may use different terms to refer to the same component. The specification and claims do not use differences in nouns as a way of distinguishing components, but use differences in functions of components ...

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Abstract

The invention relates to an indoor navigation method and system based on a laser and vision fusion SLAM technology. The method comprises steps of laser data collected by an indoor robot laser sensor and vision data collected by an indoor robot camera being obtained; performing fusion processing on the laser data and the visual data by using a closed-loop detection algorithm based on multi-information fusion to obtain a two-dimensional SLAM semantic grating map; the sensing information collected by a sensor of the indoor robot being obtained, and according to the sensing information, a preset laser radar positioning method or a preset positioning method integrating a visual odometer and an IMU being selected to obtain the pose information of the indoor robot; and generating the navigation information for an indoor robot to execute by utilizing the pose information and the two-dimensional SLAM semantic grating map and based on a Voronoi global path planning technology and a dynamic window method local path planning technology extracted by a skeleton.

Description

technical field [0001] The invention relates to the field of flight safety prediction and early warning, in particular to an indoor navigation method and system based on laser and vision fusion SLAM technology. Background technique [0002] Robotics has come a long way in recent years with advances in computer technology. At present, a large number of researchers have emerged in many fields such as robot structure design, perception system, control system, and intelligent decision-making. The positioning and navigation technology of mobile robots is the key to robot technology, which can realize the autonomous positioning and navigation tasks of robots in complex and changeable environments. However, due to the lack of reliable global navigation satellite system (GNSS) signals for indoor positioning and navigation of robots, there are more different challenges than outdoor positioning and navigation. SLAM technology can be effectively applied to indoor positioning and navi...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G01C21/16G01C21/20G01S17/06
CPCG01C21/165G01C21/206G01S17/06G05D1/0219G05D1/0221G05D1/024G05D1/0246G05D1/0276
Inventor 李维刚夏臻康钟正
Owner WUHAN UNIV OF SCI & TECH
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