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Laser radar dynamic obstacle detection method considering wheeled robot pose estimation

A wheeled robot and dynamic obstacle technology, applied in the field of lidar obstacle detection, can solve problems such as immature dynamic obstacle recognition methods, achieve good obstacle tracking effect, accurate pose estimation, and high data processing frequency. Effect

Active Publication Date: 2021-09-03
HUNAN UNIV
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Problems solved by technology

At present, the dynamic obstacle recognition method based on a single sensor is still immature, and the relevant theories still need to be further improved.

Method used

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  • Laser radar dynamic obstacle detection method considering wheeled robot pose estimation
  • Laser radar dynamic obstacle detection method considering wheeled robot pose estimation
  • Laser radar dynamic obstacle detection method considering wheeled robot pose estimation

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Embodiment Construction

[0078] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0079] Such as figure 1 As shown, the lidar dynamic obstacle detection method considering the wheeled robot pose estimation provided by the embodiment of the present invention includes:

[0080] Step 1. According to the geometric characteristics of the laser point cloud data, the point cloud conforming to the preset curvature characteristics is extracted as the feature point, and the matching relationship of the same feature point in the point cloud data at two adjacent frames is established, and the cost function is constructed. Construct the ICP (Iterative Closest Point; Iterative Closest Point) problem using the robot pose as a variable, and use SVD (Singular Value Decomposition; Singular Value Decomposition) to iterate in the x and y two-dimensional plane solution space of the radar coordinate system until The pose converges to obtain the pose in...

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Abstract

The invention discloses a laser radar dynamic obstacle detection method considering wheeled robot pose estimation, and the method comprises the steps: 1, extracting a point cloud according with a preset curvature feature as a feature point through the geometric characteristics of laser point cloud data, building a matching relation of the same feature point in two frames of point cloud data at adjacent moments, constructing a cost function, and constructing an ICP problem by taking the pose of the wheeled robot as a variable to obtain pose information of the wheeled robot; 2, detecting candidate dynamic obstacles; and 3, estimating a dynamic obstacle state. Multiple sensors do not need to be combined, the purpose of dynamic obstacle detection is achieved on the premise that a single sensor is used, the system is made to be more efficient, and safety is higher.

Description

technical field [0001] The invention relates to the technical field of laser radar obstacle detection, in particular to a laser radar dynamic obstacle detection method considering the pose estimation of a wheeled robot. Background technique [0002] Today, driven by the rapid development of artificial intelligence, robot technology is rapidly expanding from traditional industrial manufacturing to education and entertainment, medical services, and exploration and surveying, and even affects cross-cutting fields such as autonomous driving. The continuous advancement of these technological applications has made people's lives more convenient. Among the many robots with different driving methods, wheeled robots (WMR) are widely used in various industries due to their mature mechanical structure, such as logistics robots, storage robots and sweeping robots. Among them, the intelligent robot system is its core component, which has important research significance. [0003] The in...

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Application Information

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IPC IPC(8): G06T7/70G06T7/66B25J9/16
CPCG06T7/70G06T7/66B25J9/1666G06T2207/10028
Inventor 秦晓辉芦涛边有钢徐彪谢国涛秦兆博胡满江王晓伟秦洪懋丁荣军
Owner HUNAN UNIV
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