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Loopback detection method and device, electronic equipment and computer readable medium

A detection method and loopback technology, which is applied in the computer field, can solve the problems of low efficiency of loopback detection and achieve the effect of reducing time-consuming and improving efficiency

Pending Publication Date: 2022-03-25
MEGVII BEIJINGTECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The embodiment of the present application proposes a loopback detection method, device, electronic device and computer-readable medium to solve the technical problem of low efficiency of loopback detection in the prior art

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  • Loopback detection method and device, electronic equipment and computer readable medium
  • Loopback detection method and device, electronic equipment and computer readable medium
  • Loopback detection method and device, electronic equipment and computer readable medium

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Embodiment Construction

[0015] The application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain related inventions, rather than to limit the invention. It should also be noted that, for the convenience of description, only the parts related to the related invention are shown in the drawings.

[0016] It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and embodiments.

[0017] Please refer to figure 1 , which shows a process 100 of an embodiment of the loop closure detection method according to the present application. The loop detection method includes the following steps 101 to 103:

[0018] Step 101, performing Euclidean distance trans...

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Abstract

The embodiment of the invention discloses a loopback detection method and device, electronic equipment and a computer readable medium. The method comprises the following steps: performing Euclidean distance transformation on a to-be-measured laser sub-graph to obtain an Euclidean distance graph; based on the Euclidean distance map, determining feature points in the to-be-measured laser sub-map, and obtaining descriptors of the feature points in the to-be-measured laser sub-map; and carrying out loopback detection on the to-be-detected laser sub-graph based on the descriptors of the feature points in the to-be-detected laser sub-graph and the descriptors of the feature points in the historical laser sub-graph to obtain a loopback detection result. According to the embodiment, the loopback detection efficiency is improved.

Description

technical field [0001] The embodiments of the present application relate to the field of computer technology, and in particular to a loopback detection method, device, electronic equipment, and computer-readable medium. Background technique [0002] Loopback detection, also known as closed-loop detection, is a detection method that matches the current scene with the historical scene by the mobile robot to eliminate the cumulative error of the system. [0003] In the prior art, a scan matching (Scan Match) method may be used to match the laser data of the current frame with the global map, so as to determine the matching historical scene with the current scene. Due to the large amount of laser data, this method is time-consuming when the map scale is large, resulting in low efficiency of loop closure detection. Contents of the invention [0004] Embodiments of the present application propose a loopback detection method, device, electronic device, and computer readable medi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/73G06V20/00G06V10/74G06K9/62
CPCG06T7/73G06F18/22
Inventor 谢晓佳肖锡臻刘骁
Owner MEGVII BEIJINGTECH CO LTD
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