Robot repositioning method and device and robot

Abstract

The invention discloses a robot repositioning method and device and a robot. The method comprises the following steps: receiving laser point cloud data and image data acquired by a robot at a current position; determining image key frame information corresponding to the image data according to a visual dictionary; physical position information corresponding to the image key frame information is obtained in the visual map, the feature point information of the image data is matched with the feature point information corresponding to the image key frame information, and resolving is carried out by combining the physical position information of the feature points in the visual map and the pixel position information of the feature points in the image data after matching; and under the condition that the first pose data of the robot is obtained through calculation, a preset area range is set according to the first pose data, iterative matching calculation is carried out in the preset area range by using the laser map and the laser point cloud data, and second pose data of the robot is obtained. By adopting the scheme, the iteration range of laser matching can be reduced by utilizing the initial pose data, the matching speed is increased, and the repositioning of the robot is quickly realized.

Description

technical field [0001] The present invention relates to the field of artificial intelligence, in particular to a robot relocation method, device and robot. Background technique [0002] Simultaneous Localization and Mapping (SLAM for short) is one of the most widely used robot positioning technologies at present. [0003] The robot may be picked up, kicked, or slipped during use. The above situations may cause the robot’s own positioning to fail. In this case, the robot needs to be repositioned. Relocalization is an important basis for robot intelligent navigation and environment exploration, and it is also one of the key technologies for mobile robots to achieve true and complete autonomy. In SLAM technology, robot relocation is an important part and plays a key role in map reuse. [0004] In related technologies, the laser relocation scheme is mainly used to calculate the position and attitude of the robot through the matching relationship between the current laser and t...

AI Technical Summary

Problems solved by technology

[0005] The main purpose of the present invention is to disclose a robot relocation method, device and robot, so as to at least solve the problems in the related art for complex and large scene environment, need to search in the whole map, adopt laser relocation scheme, difficult to quickly relocate, etc.

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