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Outdoor robot relocation method based on Go-ICP

A relocation and robot technology, applied in the field of localization, can solve the problems of large global relocation search range, long search time, low efficiency, etc., and achieve the effect of reasonable and reliable search range, reduced search time, and high efficiency

Pending Publication Date: 2021-08-17
长沙金维信息技术有限公司
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Problems solved by technology

[0045] However, the above-mentioned existing Go-ICP algorithm has a large global relocation search range, long search time and low efficiency during operation.

Method used

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  • Outdoor robot relocation method based on Go-ICP
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  • Outdoor robot relocation method based on Go-ICP

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Embodiment Construction

[0069] like figure 1 Shown is the method flow diagram of the method of the present invention: this Go-ICP-based outdoor robot relocation method provided by the present invention comprises the following steps:

[0070] S1. Obtain the existing Go-ICP algorithm;

[0071] S2. For the Go-ICP algorithm obtained in step S1, the lower bound for pruning is modified to improve the convergence speed of the algorithm; specifically, the lower bound for pruning is modified by using the following formula:

[0072]

[0073]

[0074] In the formula is the rotation matrix; x is the point data; is the rotation matrix; σ r Search for the half-side length of the cube for rotation; |||| is the 2 norm; is defined as equal to; Uncertain radius for rotation; t translation; t 0 is the translation search center; σ t half-length of the searched cubic area for X; γ t Undefined radius for translation.

[0075] In the specific implementation, the rotation range changes as figure 2 As sh...

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Abstract

The invention discloses an outdoor robot repositioning method based on Go-ICP. The method comprises the steps of obtaining an existing Go-ICP algorithm; modifying a lower bound used for pruning; in the branching process, the lowest resolution is stipulated, and the number of branches is reduced; if positioning is lost in positioning, calculating a repositioning search range and performing repositioning; and adopting the modified Go-ICP algorithm to carry out real-time repositioning of the outdoor robot. According to the method, a cubic search area of the Go-ICP algorithm is converted into a flat cuboid search area, and the search range of the Z axis is reduced; the number of branches of the Go-ICP algorithm is reduced; the relocation search range of the Go-ICP algorithm is determined according to the basic search range, the lost location time and the drift coefficient of the corresponding rotation or translation component, so that the relocation search time based on the Go-ICP algorithm is greatly shortened, the efficiency is high, the search time is short, and the search range is reasonable and reliable.

Description

technical field [0001] The invention belongs to the technical field of positioning, and in particular relates to a Go-ICP-based outdoor robot relocation method. Background technique [0002] Relocalization and 3D point cloud registration are key localization techniques for outdoor mobile robots. The purpose of point cloud registration is to solve the transformation matrix of point clouds with different attitudes under the same coordinates, and use this matrix to achieve accurate registration of multi-view scanning point clouds, and finally obtain positioning information. [0003] In essence, the 3D point cloud registration problem about six degrees of freedom (rotation and translation) is a typical non-convex optimization problem, and its objective function has multiple peaks and valleys in the six-dimensional feasible domain space, which makes it easy to optimize the solution process. Affected by the initial transformation matrix, it is easy to fall into a local optimal so...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/10
CPCG06F17/10
Inventor 王锦山王宇雨于泠汰冼志怀方锐涌
Owner 长沙金维信息技术有限公司
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