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Loopback detection method and device

A detection method and a loopback technology, which is applied in the field of intelligent robots, can solve problems such as errors, inability to directly judge the common view area of ​​two laser frames, and low accuracy of loopback detection, so as to achieve the effect of improving accuracy

Pending Publication Date: 2021-12-10
BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD
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Problems solved by technology

[0005] The existing method of determining the loopback frame based on the distance cannot directly judge whether there is a common-view area between the two laser frames. If it does not exist, it will cause a mismatch and introduce errors, resulting in low loopback detection accuracy.

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  • Loopback detection method and device
  • Loopback detection method and device

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Embodiment Construction

[0067] Exemplary embodiments of the present invention are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present invention to facilitate understanding, and they should be regarded as exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

[0068] In the problem of Simultaneous Localization and Mapping (SLAM) of intelligent robots, the estimation of the pose of intelligent robots is often a recursive process, that is, the pose of the current frame is calculated from the pose of the previous frame, so among them The error is passed on frame by frame, which is the cumulative error. Since the pose constraints a...

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Abstract

The invention discloses a loopback detection method and device, and relates to the technical field of intelligent robots. A specific embodiment of the method comprises the following steps: acquiring a current laser frame and position information of a laser point cloud included in the current laser frame; determining the distribution condition of the current laser frame in a preset global grid according to the position information of the laser point cloud; judging whether the number of the stored historical laser frames is not smaller than a first loopback detection threshold value or not, and if yes, matching candidate loopback laser frames for the current laser frame from the historical laser frames according to the distribution situation of the stored historical laser frames in the global grid and the distribution situation of the current laser frame in the global grid; and determining an effective loopback laser frame for the current laser frame based on the matched candidate loopback laser frame. According to the embodiment, the loopback detection accuracy can be effectively improved.

Description

technical field [0001] The invention relates to the technical field of intelligent robots, in particular to a loop detection method and device. Background technique [0002] In an unknown environment, the robot obtains external environmental information through laser sensors, realizes pose estimation and incrementally builds an environmental model, and then establishes its own global position. The process is called Simultaneous Localization and Mapping (SLAM) . Among them, loopback detection (also known as closed loop detection) is a key link in SLAM. It determines whether the robot has entered a certain historical location by judging whether the newly collected laser frame has appeared in the historical laser frame. Its purpose is mainly to reduce the cumulative error when constructing the environment map. [0003] The current loopback detection method is mainly based on the distance loopback detection method, that is, when the relative position between the current laser ...

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Application Information

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IPC IPC(8): G06T7/77
CPCG06T7/77G06T2207/10028G06T2207/30244
Inventor 张鹏
Owner BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD
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