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LiDAR Dynamic Obstacle Detection Method Considering Pose Estimation of Wheeled Robot

A wheeled robot and dynamic obstacle technology, which is applied in the field of lidar obstacle detection, can solve the problems of immature dynamic obstacle recognition methods, and achieve the effects of good obstacle tracking, efficient system, simple and stable system

Active Publication Date: 2022-05-24
HUNAN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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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  • LiDAR Dynamic Obstacle Detection Method Considering Pose Estimation of Wheeled Robot
  • LiDAR Dynamic Obstacle Detection Method Considering Pose Estimation of Wheeled Robot
  • LiDAR Dynamic Obstacle Detection Method Considering Pose Estimation of Wheeled Robot

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Embodiment Construction

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

[0079] like 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, through the geometric characteristics of the laser point cloud data, extract the point cloud that conforms to the preset curvature characteristics as the feature point, establish the matching relationship of the same feature point in the point cloud data of two frames of adjacent moments, and construct the cost function, and use the round The ICP (Iterative Closest Point; iterative closest point) problem is constructed as the variable pose of the robot, and SVD (Singular Value Decomposition; singular value decomposition) is used to decompose it in the x and y two-dimensional plane solution space of the radar coordinate system to iterate until The pose conv...

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Abstract

The invention discloses a laser radar dynamic obstacle detection method considering the pose estimation of a wheeled robot. The method includes: step 1, through the geometric characteristics of laser point cloud data, extracting point clouds conforming to preset curvature characteristics as feature points , establish the matching relationship of the same feature point in the point cloud data of two adjacent frames, and construct a cost function, construct an ICP problem with the wheeled robot pose as a variable, and obtain the wheeled robot pose information; step 2, detect candidate dynamics Obstacles; step 3, estimate the dynamic obstacle state. The present invention does not need to combine multiple sensors, and can detect dynamic obstacles on the premise of using a single sensor, so that the system is more efficient and more secure.

Description

technical field [0001] The invention relates to the technical field of lidar obstacle detection, in particular to a lidar dynamic obstacle detection method considering the position and attitude estimation of a wheeled robot. Background technique [0002] Today, driven by the rapid development of artificial intelligence, robotics 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, warehousing robots and sweeping robots. Among them, the intelligent robot system is its core component, which has important research significance. [...

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Application Information

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Patent Type & Authority Patents(China)
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