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Odometer track alignment and precision evaluation method

An odometer and trajectory technology, applied in the field of intelligent robots, can solve the problems affecting the accuracy of odometer evaluation results, and achieve the effect of reasonable evaluation

Active Publication Date: 2022-02-25
BEIHANG UNIV
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  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, such methods affect the accuracy evaluation results of the odometer due to the deliberate alignment of the true value trajectory and the odometer measurement trajectory.

Method used

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  • Odometer track alignment and precision evaluation method
  • Odometer track alignment and precision evaluation method
  • Odometer track alignment and precision evaluation method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0087] The real value of the trajectory (Groundtruth) is obtained by the motion capture system (Optitrack), and the trajectory is as follows image 3 (a) and image 3 It is shown by the solid line in (b).

[0088] The estimated trajectory (Estimate) is obtained by the visual inertial odometry, and the trajectory is as follows image 3 (a) and image 3 It is shown by the dotted line in (b).

[0089] Use Umeyama and the method of the present invention to align the estimated trajectory with the real trajectory, and measure the absolute error of the odometer.

[0090] image 3 (a) is a comparison chart between the estimated trajectory aligned with the Umeyama algorithm and the true value, the average absolute error is about 0.797m, image 3 (b) is a comparison chart of the estimated trajectory aligned with the method of the present invention and the true value, and the average absolute error is about 0.883m.

[0091] From image 3 (a) and image 3 From the comparison of (b...

Embodiment 2

[0093] The true value of the trajectory (Groundtruth) is obtained by a high-precision visual-inertial odometry, and the estimated value of the odometry is obtained by using two other different visual odometry calculation methods. The trajectory measurement results are divided into Trajectory1 and Trajectory2, corresponding to image 3 (c) and image 3 Dotted line (..) and dotted line (-.) in (d).

[0094] Umeyama and the method of the present invention are respectively used to align the two groups of trajectories, and calculate the average absolute error of the odometer. The results are shown in the table below:

[0095] Table 1 Absolute error mean value table (unit: m)

[0096]

[0097] When performing multiple trajectories for simultaneous evaluation, use the Umeyama alignment method to align the trajectories, such as image 3 As shown in (c), it is difficult to intuitively see the cumulative error and performance of the two odometers. Use the method of the present in...

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Abstract

The invention discloses an odometer track alignment and precision evaluation method, and the method is characterized in that a coordinate system transformation relation between an odometer measurement system coordinate system and a true value measurement system coordinate system is calculated by using an odometer measurement track and a true track, so that the true track and the measurement track are aligned, and then the true deviation of a measurement value is calculated. By means of the technical scheme, the transformation relation between the odometer measurement system coordinate system and the true value measurement system coordinate system can be calculated, the odometer measuring track and the true track can be aligned, it is guaranteed that the track starting points coincide, and the odometer precision can be evaluated more reasonably. The method is mainly used for evaluating the precision and reliability of a positioning system, and can be widely applied to the fields of unmanned aerial vehicles, unmanned driving, robot design and the like.

Description

technical field [0001] The invention belongs to the technical field of intelligent robots, and in particular relates to an odometer trajectory alignment and accuracy evaluation method. Background technique [0002] With the rapid development and application of artificial intelligence, industries such as intelligent robots and unmanned driving are facing huge demands and markets, as well as technical challenges. Among them, autonomous navigation and planning technology has become an urgent and extensive need for the intelligent robot industry. Robot autonomous navigation planning refers to the ability of a robot to independently complete specified motion tasks. The premise of robot autonomous navigation planning is to have the ability of autonomous positioning, that is, to have the function of odometer. [0003] Since the real value measurement of the trajectory of smart devices such as robots is obtained by devices other than themselves, such as using GPS, RTK technology, ...

Claims

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Application Information

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IPC IPC(8): G01C25/00
CPCG01C25/00
Inventor 王英勋聂保珍蔡志浩赵江
Owner BEIHANG UNIV
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