Positioning method and device based on fusion of vision and wheel type odometer, medium and equipment

Abstract

The invention discloses a positioning method based on fusion of vision and a wheel-type odometer, which comprises the following steps: coordinate system calibration is carried out on a binocular camera, a wheel-type odometer and an IMU (Inertial Measurement Unit) which are arranged on a mobile robot, and the wheel-type odometer coincides with the IMU; acquiring three-dimensional speedometer information according to the wheel type speedometer and an IMU, and storing the three-dimensional speedometer information in a first cache; acquiring image information acquired by the binocular camera, and storing the image information in a second cache; acquiring a plurality of pieces of image information in a timestamp corresponding to the three-dimensional speedometer information when the three-dimensional speedometer information meets a preset condition; aiming at a plurality of pieces of image information in the timestamps, calculating pose information between every two pieces of image information; and constructing a cost function according to the pose information, and obtaining a global pose according to the cost function. The positioning precision and stability of the mobile robot are improved.

Description

technical field [0001] The invention relates to the field of information technology, in particular to a positioning method, device, medium and equipment based on fusion of vision and wheel odometer. Background technique [0002] The positioning technology of mobile robots has become one of the hot research technologies in recent years. This is because the mobile robot must be able to realize point-to-point autonomous path-finding and walking capabilities, and the prerequisite is that the mobile robot knows its own location. [0003] The existing mobile robot positioning technology mainly adopts the fusion positioning method based on vision and wheel odometer. Patent document CN 110864685 provides a vehicle monocular vision wheel odometer positioning method based on loose coupling, and patent CN108253963 provides a multi-sensor fusion-based robot ADR positioning method and positioning system, both of which use Kalman filter fusion method. However, Kalman filtering is a met...

AI Technical Summary

Problems solved by technology

[0005] The embodiment of the present invention provides a positioning method, device, medium and equipment based on the fusion of vision and wheel odometer to solve the positioning accuracy existing in the existing technology when the Kalman filter algorithm is used to realize the fusion positioning of vision and wheel odometer , the problem of low stability

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