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Multi-source information hierarchical fusion method and device and storage medium

A technology of multi-source information and fusion method, which is applied in the field of multi-source information layered fusion, and can solve the problem that the sensor is difficult to meet the demand.

Active Publication Date: 2022-05-03
HKUST TIANGONG INTELLIGENT EQUIP TECH (TIANJIN) CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

As the scene tasks become more and more complex, a single sensor is often difficult to meet the demand, so the multi-sensor fusion algorithm is necessary

Method used

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  • Multi-source information hierarchical fusion method and device and storage medium
  • Multi-source information hierarchical fusion method and device and storage medium
  • Multi-source information hierarchical fusion method and device and storage medium

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Embodiment Construction

[0041] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of this application, but not all of them. Based on the embodiments in the present application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present application.

[0042] For ease of understanding, a detailed introduction to a multi-source information layered fusion method provided by the embodiment of the present application is given below, see figure 1 , a multi-source information layered fusion method, applied to , the unmanned mobile platform is provided with a monocular camera, a point cloud ...

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Abstract

The invention relates to a multi-source information hierarchical fusion method and device and a storage medium. The method comprises the steps of obtaining point cloud data, monocular image data and pose information; preprocessing the obtained point cloud data to remove noisy points in the point cloud data and remove motion distortion; denoising processing is carried out on the obtained monocular image data, and SIFT feature points of the monocular image data are extracted; associating the depth value of the point cloud data for the monocular image; fusing the monocular image subjected to depth value association and the preprocessed point cloud data to obtain a local speedometer, and converting the local speedometer into a speedometer factor; performing pre-integration processing on the pose information to obtain a pre-integration factor; and optimizing the odometer factor, the pre-integration factor and the loopback detection factor by using the factor graph model to obtain a motion track and a map of the unmanned mobile platform. The method can improve the utilization rate of multi-source information and reduce accumulated errors.

Description

technical field [0001] The present application relates to the field of robot technology, in particular to a multi-source information layered fusion method. Background technique [0002] Simultaneous Localization And Mapping (SLAM) technology is one of the key issues that mobile robots need to solve. After decades of development, many achievements have been made. On the mobile robot, it is often equipped with a variety of sensors, collects data and performs calculations, and obtains a system for positioning its own position and attitude and scene map information. [0003] At present, the most common SLAM is laser SLAM algorithm and visual SLAM algorithm. As the scene tasks become more and more complex, a single sensor is often difficult to meet the needs, so a multi-sensor fusion algorithm is necessary. How to make full use of multi-sensor information is still one of the current difficulties. Contents of the invention [0004] In order to solve the technical problems me...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T5/00G06T7/246G06T7/277G06T3/40G06K9/62G01S17/89G01S17/86G01C21/00G06V10/80
CPCG06T7/246G01C21/3841G01S17/86G01S17/89G06T3/4007G06T7/277G06T2207/30241G06F18/25G06T5/70
Inventor 张超张波
Owner HKUST TIANGONG INTELLIGENT EQUIP TECH (TIANJIN) CO LTD
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