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A visual dictionary is a dictionary that primarily uses pictures to illustrate the meaning of words. Visual dictionaries are often organized by themes, instead of being an alphabetical list of words. For each theme, an image is labeled with the correct word to identify each component of the item in question. Visual dictionaries can be monolingual or multilingual, providing the names of items in several languages. An index of all defined words is usually included to assist finding the correct illustration that defines the word.
Robot repositioning methods, devices and robots
ActiveCN114519817BFast implementation of relocationreduce search timeImage enhancementImage analysisPattern recognitionPoint cloud
This invention discloses a robot relocalization method, apparatus, and robot. In the method, laser point cloud data and image data acquired by the robot at its current position are received; keyframe information corresponding to the image data is determined according to a visual dictionary; physical location information corresponding to the keyframe information is obtained from a visual map; feature point information of the image data is matched with feature point information corresponding to the keyframe information; and calculation is performed by combining the physical location information of the feature points in the visual map and the pixel location information of the feature points in the image data. After obtaining the robot's first pose data, a predetermined area is set based on the first pose data, and iterative matching calculations are performed within the predetermined area using the laser map and laser point cloud data to obtain the robot's second pose data. By using the above scheme, the iteration range of laser matching can be reduced by utilizing the initial pose data, thus accelerating the matching speed and quickly achieving robot relocalization.
Owner:BEIJING INDEMIND TECH CO LTD