Simultaneous positioning and mapping method based on millimeter wave radar and binocular camera
A technology of millimeter-wave radar and binocular camera, applied in radio wave reflection/re-radiation, radio wave measurement system, using re-radiation, etc., can solve the problem of high price of lidar, unsuitability for passenger cars, and lack of depth Information and other issues to achieve the effect of reducing data redundancy, simplifying the algorithm, and improving efficiency
Active Publication Date: 2021-11-09
CHINA AUTOMOTIVE INNOVATION CORP
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Lidar is generally installed on the roof of the car and rotates 360 degrees to collect data. However, Lidar cannot work in rain, fog or sandstorms and the price of Lidar is high. It is currently not suitable for ordinary passenger cars.
Although the camera can provide rich texture information, the information dimension of the camera is two-dimensional and lacks depth information. It needs to be calculated by complex algorithms, and there is an error between the actual value and the performance of the computer hardware used. higher requirement
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[0044] The following will clearly and completely describe the technical solutions in the embodiments herein in conjunction with the accompanying drawings in the embodiments herein. Obviously, the described embodiments are only some of the embodiments herein, not all of them. Based on the embodiments herein, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts fall within the scope of protection herein.
[0045] It should be noted that the terms "first" and "second" in the description and claims herein and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific order or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances such that the embodiments herein described herein can be practiced in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having", as well as any variations ...
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The invention belongs to the technical field of simultaneous localization and mapping of objects, and particularly relates to a simultaneous positioning and mapping method based on a millimeter wave radar and a binocular camera. The method comprises the steps: carrying out feature extraction on image data collected by the binocular camera in the advancing process of equipment, and obtaining a plurality of feature points; determining a first depth parameter corresponding to each feature point according to distance data collected by the millimeter wave radar; according to a first depth parameter corresponding to each feature point in a previous frame of image in the image data, calculating a second depth parameter corresponding to each feature point in a next frame of image by using a visual odometer; determining a target depth parameter corresponding to each feature point in each frame of image according to the first depth parameter and the second depth parameter corresponding to each feature point in each frame of image; and completing simultaneous positioning and mapping based on the target depth parameter. According to the application, simultaneous positioning and mapping can be realized in the image acquisition process, and the mapping precision is improved.
Description
technical field [0001] The invention relates to the technical field of simultaneous positioning and mapping methods, in particular to a simultaneous positioning and mapping method based on millimeter wave radar and binocular cameras. Background technique [0002] With the rise of the concept of artificial intelligence and the maturity of computer vision-related technologies, unmanned equipment and robotics have received more and more attention. Among them, Simultaneous Localization and Mapping (SLAM) is an indispensable module in robot-related technologies. According to the different sensors used, SLAM technology can be mainly divided into camera-based visual SLAM and laser SLAM based on LiDAR (Light Detection and Ranging, LiDAR), in which visual SLAM can be subdivided into monocular SLAM, binocular SLAM and RGBD- SLAM, laser SLAM can be divided into 2D laser SLAM based on single-line lidar and 3D laser SLAM based on multi-line lidar. [0003] The existing simultaneous pos...
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IPC IPC(8): G01S13/89G01S13/86G01S13/93G01S11/12
CPCG01S13/89G01S13/865G01S13/93G01S11/12
Inventor 李丰军周剑光马鑫军秦洪洲王珏
Owner CHINA AUTOMOTIVE INNOVATION CORP