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Millimeter wave radar continuous positioning method and device based on laser map

A millimeter wave radar and positioning method technology, which is applied in measurement devices, radio wave measurement systems, reflection/re-radiation of radio waves, etc., can solve the waste of resources and manpower, cannot guarantee the integrity and consistency of high-precision map construction, Millimeter wave radar data is noisy and other problems, to achieve the effect of excellent positioning accuracy

Pending Publication Date: 2021-12-07
ZHEJIANG UNIV
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AI Technical Summary

Problems solved by technology

However, there is a lot of noise in the millimeter-wave radar data, which cannot guarantee the integrity and consistency of high-precision map construction
In addition, the lidar map construction method is mature. If the millimeter-wave radar is used repeatedly for map construction, it will cause a waste of resources and manpower.

Method used

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  • Millimeter wave radar continuous positioning method and device based on laser map
  • Millimeter wave radar continuous positioning method and device based on laser map
  • Millimeter wave radar continuous positioning method and device based on laser map

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Embodiment Construction

[0064] The invention discloses a laser map-based millimeter wave radar continuous positioning method and device. The method comprises: 1) obtaining a priori two-dimensional laser map of the working environment of the robot, and the map is pre-built; the priori two-dimensional laser map:

[0065] According to the calibration relationship between the millimeter-wave radar sensor and the laser sensor, the laser point cloud is highly filtered to filter out areas that cannot be detected by millimeter-wave radar sensors such as the ground;

[0066] According to the filtered laser point cloud, a three-dimensional laser point cloud map is constructed by laser SLAM and other technologies;

[0067] According to the constructed 3D laser point cloud map, it is converted into a 2D raster image by rasterization for subsequent millimeter-wave radar positioning.

[0068] 2) Obtain the current two-dimensional millimeter-wave radar measurement data of the mobile robot;

[0069] 3) Extract the...

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Abstract

The invention discloses a millimeter wave radar continuous positioning method and device based on a laser map. The method comprises the steps of obtaining a priori two-dimensional laser map of a working environment of a robot, obtaining current two-dimensional millimeter wave radar measurement data of the mobile robot, extracting the priori laser map and current millimeter wave radar features according to a neural network and the like. According to the invention, in atrocious weather, such as rainy and snowy weather environment, data provided by a visual sensor, a laser sensor and the like has large noise and even cannot work normally. The millimeter wave radar is robust to illumination and weather changes. Therefore, the method and the device provided by the invention are suitable for continuous positioning of the robot in severe weather and environment.

Description

technical field [0001] The invention relates to robot positioning technology, in particular to a laser map-based millimeter-wave radar continuous positioning method and device. Background technique [0002] Intelligent mobile robot is a kind of robot that can move in the environment. It has a wide range of applications and great development potential in transportation, logistics, agriculture and other industries. The autonomous localization of the mobile robot provides the pose of the robot in the environment, which is the necessary basis and prior condition for subsequent navigation tasks. The current mainstream mobile robot positioning mode is to first build an offline map, and then use sensors to position online. [0003] During the positioning process, the positioning system of the mobile robot is equipped with cameras, lasers and millimeter-wave radar sensors. Generally speaking, visual positioning and laser positioning can cover most outdoor application scenarios. H...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S13/86G01S13/06G01S13/88G01C21/00G01C21/20G06N3/04G06F17/18
CPCG01S13/86G01S13/06G01S13/881G01C21/005G01C21/20G06N3/04G06F17/18
Inventor 王越尹欢熊蓉
Owner ZHEJIANG UNIV
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