A Method and System for Robot Mutual Recognition and Pose Estimation Based on Perceptual Layer Coding

Abstract

This invention discloses a robot mutual recognition and pose estimation method and system based on perceptual layer coding, comprising: a coding reflector, a laser scanning device, a segmented detection module, a sequence matching module, and a pose estimation module. The coding reflector consists of high and low reflectivity symbols arranged circumferentially along the outer contour of the robot, with corner isolation segments between adjacent sides. The laser scanning device scans the target and acquires point cloud data. The segmented detection module extracts the target contour, identifies isolation segments based on echo intensity, divides the coded surface segments, and sets the adjacent turning points of the isolation segments as anchor points. The sequence matching module binarizes the symbols and matches them with the coding dictionary using a sliding window to obtain the target identifier, absolute phase index, and physical parameters. The pose estimation module determines the relative position based on distance data; when an anchor point is detected, the geometric phase of the anchor point is calculated from the absolute phase index, and the heading angle is estimated by combining the observed azimuth angle. This allows for robot mutual recognition and pose estimation in a radio frequency silent environment.

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