Marker-Assisted SLAM Navigation for Precise Docking and Map Closing
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Solution Overview
Problem
Conventional SLAM navigation systems face challenges in achieving precise localization and mapping, especially in large environments, due to inaccuracies in loop closing and sensor accuracy, which affects their performance in applications like conveyor belt docking and mechanical arm operations.
Innovation Solution
A marker-combined simultaneous localization and mapping method that utilizes markers with pose information or identification information to determine initial and current poses of objects, allowing for precise localization and mapping by providing an initialization area, adding markers along the object's path, and using Gaussian models for pose estimation and error covariance matrix fusion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If SLAM navigation is used without markers, then convenience is improved, but localization precision deteriorates
Solution Approach 1:
The patent combines SLAM navigation with marker-based localization into a hybrid system. Markers are placed at specific locations (initial position, docking position, way points) to provide precise localization references, while SLAM continues to operate for general navigation and mapping. The system merges the convenience of markerless navigation with the precision of marker-based localization by integrating both approaches.
2Area of stationary object
If SLAM navigation is used in large scenes, then coverage area is improved, but map closing effectiveness deteriorates
Solution Approach 1:
The patent places markers in advance at key locations including initial positions, docking positions, and way points before the robot begins navigation. This preliminary placement of reference markers ensures that when the robot operates in large scenes, it can reliably locate these pre-positioned markers to perform accurate map closing and position correction, overcoming the limitation of SLAM alone in large environments.
3Ease of manufacture
If low-cost sensors are used, then system cost is reduced, but localization precision deteriorates
Solution Approach 1:
The patent introduces markers as intermediary reference objects that mediate between low-cost sensors and the requirement for high localization precision. The markers serve as stable, easily detectable reference points that compensate for the limited precision of low-cost sensors. By using markers as intermediaries, the system achieves conveyor belt docking precision without requiring expensive high-precision sensors.
Data Source
AI summary
Provided are a marker-combined simultaneous localization and mapping (SLAM) navigation method, device and system. The method includes: providing an initialization area for a located object, where at least one of the initialization area for a located object, a travelling path of a located object, and a docking device of the located object is provided with an marker including at least one of pose information, identification information and non-identification graphic information; controlling the located object to perform at least one of following operations: starting from the initialization area for a located object, and based on the marker, determining an initial pose of the located object; when the marker is passed on the travelling path, updating a current pose of the located object based on the marker; and when docking with the docking device, adjusting a relative pose between the located object and the docking device based on the marker.