Fusion method of multi-robot three-dimensional geometrical map

Abstract

The invention discloses a fusion method of a multi-robot three-dimensional geometrical map, comprising the steps of projecting a three-dimensional geometrical map to be fused into two-dimensional grid maps; fusing the grid maps by adopting an image matching algorithm to acquire rotation parameters among the two-dimensional grid maps; and rotating and transforming the three-dimensional map and fusing the three-dimensional geometrical map by adopting a three-dimensional point set registration algorithm. The fusion method of the multi-robot three-dimensional geometrical map integrates the two-dimensional map fusion and the three-dimensional point set registration algorithm through considering geometrical characteristic information in the three-dimensional map to finish the fusion of the multi-robot three-dimensional geometrical map and obviously improve the fusion accuracy of the three-dimensional geometrical map. The fusion method of the multi-robot three-dimensional geometrical map is mainly applied to simultaneously positioning a plurality of robots and reestablishing the map and fusing partial map created by a single robot to form a global map.

Description

technical field [0001] The invention relates to the field of robot simultaneous positioning and map reconstruction, in particular to a method for fusing geometric maps created by multiple robots. Background technique [0002] With the continuous expansion of the application field, the simultaneous positioning and map reconstruction algorithm based on a single robot system can no longer meet the needs in many occasions; and the multi-robot system has been more and more popular due to its advantages of parallel operation, functional complementarity, and information sharing. more attention. In the problem of simultaneous positioning and map reconstruction of mobile robots, the map is created based on the current pose information of the robot. Therefore, if the initial pose information of each robot and its corresponding motion equation can be known, then the multi-robot joint The filtering method is used to realize the simultaneous creation of the map. However, in many occasi...

AI Technical Summary

Problems solved by technology

However, in many occasions, this condition cannot be met, and each robot must independently complete the creation of the local map, so it needs to face the following problem: When each robot maintains a map of the local environment How to use these local maps to obtain the global information of the environment? This is the multi-robot map fusion problem (such as figure 1 shown)

However, most of the current methods are aimed at the fusion problem of 2D maps.

For the fusion of 3D geometric maps, the 3D point set registration algorithm is usually used directly to solve it, but the 3D point set registration algorithm does not take into account the fact that the map can reflect the geometric features in the environment

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