Centralized synchronous positioning and mapping method, device and system

A technology for synchronous positioning and map construction, which is applied in measuring devices, 3D modeling, surveying and navigation, etc., and can solve the problem of low map accuracy

Active Publication Date: 2021-09-24
BEIJING HUAJIE IMI TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in the current centralized SLAM field, the accuracy of the map constructed by the client is generally not high. Therefore, how to improve the accuracy of the map constructed by the client is a technical problem to be solved by those skilled in the art

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  • Centralized synchronous positioning and mapping method, device and system
  • Centralized synchronous positioning and mapping method, device and system
  • Centralized synchronous positioning and mapping method, device and system

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Embodiment Construction

[0046] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0047] The Simultaneous Localization and Mapping (SLAM) system originated in the field of robotics, and its goal is to reconstruct the three-dimensional structure of the environment in real time in an unknown environment and simultaneously position the robot itself. Its main idea is: on the one hand, rely on the created map information for self-positioning; on the other hand, update the map according to the positioning results. Visual SLAM technolog...

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Abstract

The invention provides a centralized SLAM (Synchronous Localization and Map Construction) method, device and system. In the scheme, after a client of a centralized SLAM system generates a key frame and determines a to-be-optimized local map based on map points observed by the key frame, visual re-projection errors of map points respectively corresponding to all key frames from the client and from other clients in a local map and pre-integration errors of inertia information corresponding to the key frames from the client in the local map are comprehensively considered, the pose of each key frame in the local map and the coordinate of the map point corresponding to each key frame are optimized, so the local map can be comprehensively optimized by combining errors in two aspects of visual information and inertial information, and the local map can be more accurately updated on the basis of the key frames generated by the client; and the client can construct the map more accurately.

Description

technical field [0001] The present application relates to the technical field of positioning and map construction, and in particular to a centralized method, device and system for synchronous positioning and map construction. Background technique [0002] Simultaneous Localization and Mapping (SLAM) originated in the field of robotics, and its goal is to reconstruct the three-dimensional structure of the environment in real time in an unknown environment and simultaneously position the robot itself. With the continuous development of positioning technology, people have proposed centralized collaborative SLAM. [0003] Centralized SLAM includes multiple clients that can independently complete positioning and mapping functions and a server with powerful computing power. Among them, the client sends local map information to the server, and the server merges multiple client maps to construct a global map with richer information. However, in the current centralized SLAM field, ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00G06T17/05
CPCG01C21/3841G06T17/05Y02T10/40
Inventor 林雅云李骊
Owner BEIJING HUAJIE IMI TECH CO LTD
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