The invention relates to the technical field of
computer vision, and discloses a precise
medicine delivery method and
system, and the method effectively strips illumination artifacts through the construction of a local gradient
structure tensor field and an anisotropic screening mechanism, remarkably improves the robustness of a visual front end in a light and dark alternating environment, and improves the accuracy of
medicine delivery.
Rigid body motion constraint and Lie algebra continuous modeling are utilized, high-precision space-
time alignment between heterogeneous sensors is realized on the premise that scene depth does not need to be recovered, hardware
delay errors are eliminated, a physical-driven probability weight dynamic allocation mechanism is constructed by introducing a multipath scattering index and a structural information entropy flux, and a dynamic space-
time alignment algorithm is established. Environment degradation is sensed in real time, the observation weight is adjusted in a self-adaptive mode, the influence of the non-line-of-
sight multipath effect and
visual texture missing is effectively restrained, high-precision inertial
dead reckoning can still be maintained in a blind area where a sensor is in full failure in combination with
momentum prior information generated through Schel complement marginalization operation, and the method has the advantages of being high in precision and high in precision. And the navigation continuity and reliability of the distribution
robot in a complex scene are ensured.