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Effective map merging method based on context description conforming to corresponding extension

A context and map technology, applied in image data processing, graphic image conversion, character and pattern recognition, etc., to achieve good efficiency and robustness

Pending Publication Date: 2021-08-13
武汉工控仪器仪表有限公司
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  • Claims
  • Application Information

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Problems solved by technology

[0011] Aiming at the deficiencies of the prior art, the present invention provides an effective map merging method based on the context-based description conforming to the corresponding extension, which solves the problem that the existing single robot is only suitable for constructing small and medium-sized environmental maps

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  • Effective map merging method based on context description conforming to corresponding extension
  • Effective map merging method based on context description conforming to corresponding extension
  • Effective map merging method based on context description conforming to corresponding extension

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Embodiment 1

[0070] Such as Figure 1-10 As shown, the embodiment of the present invention provides a context-based description and an effective map merging method that conforms to the corresponding extension is divided into four parts,

[0071] The steps included in each section are as follows:

[0072] 1) Interest points are detected for each raster map by the Harris corner detector.

[0073] 2) Compute context-based descriptors (σ, N, D) of interest point f and build raw matching pairs. where (σ, N, D) denote the scale radius, eigenvalue-based vector and eigenvector-based matrix, respectively.

[0074] 3) A scale-proportion based matching pair expansion is designed to expand each original matching pair (f, f') into a feature matching set for estimating an affine transformation.

[0075] 4) Define the measurement function to confirm the optimal similarity transformation, which is refined by the STrICP algorithm to achieve accurate raster map merging.

[0076] figure 2 is an illustr...

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Abstract

The invention provides an effective map merging method based on context description conforming to corresponding extension, and relates to the technical field of mobile robots, navigation positioning and computer vision. The context-based effective map merging method with description conforming to corresponding extension is divided into four parts: 1) detecting points of interest for each grid map by a Harr i s corner detector; 2) calculating a context-based descriptor (sigma, N, D) of the interest point f and establishing an original matching pair, wherein (sigma, N, D) respectively represents a proportional radius, a vector based on a feature value and a matrix based on a feature vector; 3) designing matching pair expansion based on scale proportion, and expanding each original matching pair into a feature matching set for estimating an affine transformation; and 4) defining a measurement function to confirm optimal similarity conversion, and refining through an STr I CP algorithm to realize accurate grid map merging. The problem that an existing single robot is only suitable for building small and medium-sized environment maps is solved.

Description

technical field [0001] The invention relates to the technical fields of mobile robots, navigation and positioning, and computer vision, in particular to an effective map merging method in which context-based description conforms to corresponding extensions. Background technique [0002] With the rapid development of computers and sensor equipment, mobile robot technology has been widely used in various fields related to human production and life. Mobile robots need a very precise map environment in the process of performing various tasks, so a large number of perception devices must be installed, such as lidar, infrared cameras, etc. As one of the most critical technologies in robotics, Simultaneous Localization and Mapping (SLAM) aims to construct a consistent map of the environment through sensing devices and localize autonomous robots in their surroundings to ensure the smooth execution of tasks. At present, many robots are equipped with SLAM functions. These mobile rob...

Claims

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Application Information

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IPC IPC(8): G06T17/05G06T3/40G06K9/46G06K9/32
CPCG06T17/05G06T3/4038G06V10/25G06V10/462
Inventor 王晓龙许灵樊旭姚干严浩
Owner 武汉工控仪器仪表有限公司
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