Dynamic object filtering method for mapping of autonomous mobile robot
A technology of autonomous movement and filtering method, which is applied in the direction of instruments, image enhancement, image analysis, etc., can solve the problem of map ghosting and other problems, and achieve the effect of improving accuracy
Inactive Publication Date: 2021-08-10
深圳市千乘机器人有限公司
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[0003] However, in the process of building a map, if a moving object such as a person or a car passes by, it will usually cause an afterimage to be formed on the map
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[0014] See figure 1 , the present invention provides a dynamic object filtering method for autonomous mobile robot mapping, comprising the following steps:
[0015] S1: Obtain each frame of radar data (ie point cloud) during the movement of the autonomous mobile robot;
[0016] S2: Using the point cloud distortion correction algorithm and the algorithm for removing ground points in the point cloud to preprocess the radar data to obtain the preprocessed point cloud;
[0017] S3: Use a clustering algorithm to gather the preprocessed point cloud of each frame into a group of objects to be matched, and calculate its corresponding centroid and three-dimensional frame;
[0018] S4: Use the Hungarian algorithm to form a matching group by using the distance between the center of mass of the object to be matched formed in each frame and the object to be matched formed in the previous frame as a matching index;
[0019] S5: comparing the formed matching group with the three-dimensiona...
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The invention relates to a dynamic object filtering method for mapping of an autonomous mobile robot. The method comprises the following steps: acquiring each frame of radar data in the moving process of the autonomous mobile robot; preprocessing the radar data by adopting a point cloud distortion correction algorithm and an algorithm for removing ground points in the point cloud to obtain a preprocessed point cloud; clustering each frame of preprocessed point cloud into a cluster-shaped object to be matched by adopting a clustering algorithm, and calculating a corresponding centroid and a three-dimensional frame of the cluster-shaped object to be matched; adopting a Hungary algorithm to form a matching group by taking the distance between the mass centers of the to-be-matched object formed in each frame and the mass center of the to-be-matched object formed in the previous frame as a matching index; comparing the formed matching groups by adopting the three-dimensional frames of the two matching groups, if the two matching groups are inconsistent, filtering the matching groups, and leaving unfiltered matching groups; and calculating the displacement between the centroids of the left and unfiltered matching groups, marking the point with the distance greater than a set threshold value as a dynamic point, and removing the dynamic point.
Description
technical field [0001] The invention relates to a dynamic object filtering method for mapping by an autonomous mobile robot. Background technique [0002] Inspection-type wheeled mobile robots mostly use 3D lidar as the main sensor, and use inertial navigation to build maps. The process of building a map is as follows: the deployment personnel operate the robot to move in the venue by holding the handle. The mapping algorithm collects lidar data during this time and estimates the trajectory of the robot. Eventually a map of the entire scene is generated. [0003] However, in the process of building a map, if a moving object such as a person or a car passes by, it will usually cause an afterimage to form on the map. Contents of the invention [0004] In order to solve the above technical problems, the present invention provides the following technical solutions: [0005] The present invention provides a dynamic object filtering method for autonomous mobile robot mapping...
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IPC IPC(8): G06T7/246G06T5/00G06K9/62
CPCG06T7/246G06T2207/10028G06T2207/10044G06F18/23G06T5/80G06T5/70
Inventor 王淮卿张义杰
Owner 深圳市千乘机器人有限公司