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A multi-source information layered fusion method, 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: 2022-06-21
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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  • A multi-source information layered fusion method, device and storage medium
  • A multi-source information layered fusion method, device and storage medium
  • A multi-source information layered fusion method, 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 more clear, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to 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 the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0042] For ease of understanding, a method for hierarchical fusion of multi-source information provided by the embodiments of the present application is described in detail below. figure 1 , a multi-source information layered fusion method, applied to , the unmanned mobile platform is provided with a monocular camera, a point cloud sc...

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Abstract

This application relates to a multi-source information layered fusion method, device and storage medium. The method includes acquiring point cloud data, monocular image data and pose information; preprocessing the acquired point cloud data to remove noise and remove motion distortion; denoise the acquired monocular image data and extract the SIFT feature points of the monocular image data; associate the depth value of the point cloud data for the monocular image; the monocular image that will associate the depth value Fusion with the preprocessed point cloud data to obtain the local odometer, and convert the local odometer into the odometer factor; pre-integrate the pose information to obtain the pre-integration factor; use the factor graph model to optimize the odometer factor, Pre-integration factor and loop-closing detection factor to obtain the trajectory and map of the unmanned mobile platform. This method can improve the utilization rate of multi-source information and reduce the cumulative error.

Description

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

Claims

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Application Information

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Patent Type & Authority Patents(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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