Instant positioning method and device in dynamic scene, equipment and storage medium

A dynamic scene and positioning method technology, applied in image data processing, instruments, calculations, etc., can solve problems affecting system positioning accuracy, A and B area feature matching errors, etc., to achieve real-time improvement, positioning accuracy improvement, and scalability strong effect

Inactive Publication Date: 2021-09-03
SOUTHWEAT UNIV OF SCI & TECH
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  • Claims
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AI Technical Summary

Problems solved by technology

Due to the large movement of the dynamic area, the feature matching of A and B areas will be wrong, which will also affect the positioning accuracy of the system

Method used

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  • Instant positioning method and device in dynamic scene, equipment and storage medium
  • Instant positioning method and device in dynamic scene, equipment and storage medium
  • Instant positioning method and device in dynamic scene, equipment and storage medium

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Embodiment Construction

[0056] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0057] like image 3 As shown, a method for real-time positioning and map construction under a dynamic scene, comprising the following steps: comprising the following steps:

[0058] S1. Acquire video data, and perform image frame screening from the video data.

[0059] The set of all image frames is expressed as F={f 1 ,f 2 ,..., f N}, the set of fixed window image frames is W={f 1 ,f 2 ,..., f 8},in

[0060] In order to eliminate the influence of dynamic objects, an adaptive window matching model is introduced. This method uses the inter-frame screening strategy to perform feature matching between the first frame image in the window and the xth (x≤8) frame image, where x-1 is the size of the window interval, and the window size is set to a fixed value of 8.

[0061] Select two frames of image f in window W 1 , f x Extract evenly...

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Abstract

The invention provides an instant positioning method and device in a dynamic scene, equipment and a storage medium, and the method comprises the steps of obtaining scene video data through an RGB-D camera, transmitting the video data to a cloud for processing through 5G communication, and feeding back positioning data to a terminal; in the data processing stage, performing image frame screening firstly; performing matching point screening in the screened image frames, and obtaining feature matching point pairs and three-dimensional space point information of a static area; tracking the pose through a reference frame model or a constant speed model, and adjusting the pose in combination with a BA optimization mode; and performing semantic segmentation on the RGB image, removing depth information corresponding to the dynamic object obtained by segmentation from the frame of depth map, and performing static three-dimensional dense map construction of the dynamic scene. According to the invention, accurate positioning of the mobile robot in a dynamic scene can be realized, introduction of excessive redundant information can be avoided, and the system can be applied to low-computing-power terminal equipment through 5G communication and cloud processing technologies.

Description

technical field [0001] The present invention relates to the field of AGV technology, in particular to an instant positioning method, device, equipment and storage medium in a dynamic scene. Background technique [0002] In recent years, some indoor and outdoor service robots have gradually appeared in daily life. For example, sweeping robots can automatically and accurately locate, and complete room cleaning through efficient path planning; security inspection robots can realize automatic inspections and safety inspections in plazas where humans and machines coexist, providing security for people's travel; Google's With the help of visual sensors and Global Positioning System (GPS), unmanned vehicles can build high-precision maps to realize automatic driving functions. The vigorous development of these related fields is inseparable from an important technology: Simultaneous Localization and Mapping (SLAM). Due to the characteristics of low cost, easy access and rich informa...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/73G06T7/246
CPCG06T7/73G06T7/246G06T2207/10016G06T2207/10024
Inventor 刘桂华余东应徐锋冯波崔云轩郭忠远
Owner SOUTHWEAT UNIV OF SCI & TECH
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