The invention discloses a power dispatching
master station robot autonomous
inspection method and
system based on SLAM and multi-mode
perception. The method comprises the following steps: performing SLAM joint
estimation through data fusion of a 3D
LiDAR, a visual sensor and an IMU, performing inter-frame
pose solution based on three-dimensional
point set matching by adopting coordinate alignment and scale
recovery, and introducing the IMU to perform cross-sensor consistency
verification and adaptive
pose optimization so as to solve the problem of positioning drift in a complex scene; meanwhile,
natural language instructions are coded through a GRU network, visual features are extracted in combination with a residual network with an attention mechanism,
time sequence fusion and modeling are carried out, and autonomous navigation
decision making in a dynamic environment is achieved. The
system comprises a corresponding SLAM
estimation module, a multi-
modal fusion decision module and an execution mechanism. According to the method, the positioning robustness, the navigation precision and the task
adaptive capacity in the complex environment of the power dispatching
master station are remarkably improved.