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Cascade Map Creation Method for Mobile Robots Based on Salient Scene Point Detection

A mobile robot, map creation technology, applied in instruments, image analysis, image data processing, etc., to achieve the effect of low missed detection rate and false detection rate, less storage space and computing resources, and ensure global consistency

Inactive Publication Date: 2016-01-06
SOUTHEAST UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0015] Technical issues: Aiming at the two main problems in the creation of cascaded maps, namely, how to select meaningful scenarios while taking into account storage requirements and landmark matching issues, and realize automatic sub-map segmentation; how to solve the topological association between sub-maps and ensure the topology nodes Global consistency; the present invention proposes a mobile robot cascade map creation method based on salient scene points

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  • Cascade Map Creation Method for Mobile Robots Based on Salient Scene Point Detection
  • Cascade Map Creation Method for Mobile Robots Based on Salient Scene Point Detection
  • Cascade Map Creation Method for Mobile Robots Based on Salient Scene Point Detection

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Embodiment Construction

[0050] Below in conjunction with specific embodiment, further illustrate the present invention, should be understood that these embodiments are only used to illustrate the present invention and are not intended to limit the scope of the present invention, after having read the present invention, those skilled in the art will understand various equivalent forms of the present invention All modifications fall within the scope defined by the appended claims of the present application.

[0051] The method step of the embodiment of the present invention is:

[0052] According to the image data collected by the mobile robot's vehicle-mounted monocular camera, the natural scene landmarks corresponding to the prominent scenes are detected online, and the topological nodes in the global map are generated;

[0053] According to the ranging laser sensor data, the dead reckoning odometer sensor, the pose estimation of the mobile robot in the previous cycle and the local grid sub-map obtai...

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Abstract

The invention relates to the technical field of mobile robot navigation. The invention discloses a mobile robot cascade map creation method based on salient scene point detection. It includes the following steps: 1) Based on the image data collected by the mobile robot sensor, online detect the natural scene landmarks corresponding to the salient scenes, and generate topological nodes in the global map; 2) Update the mobile robot pose and local grid submap; 3) Based on Salient scene points are used as topological nodes to create a global topological map structure. Based on the robot trajectory closure detection, the weighted scan matching method and relaxation method are introduced to optimize the topological structure to ensure the global consistency of the topological map. The invention is suitable for autonomous path planning and navigation applications of various mobile robots in large-scale indoor environments containing multiple rooms, corridors and other areas.

Description

technical field [0001] The invention relates to the technical field of mobile robot navigation, in particular to a mobile robot cascade map creation method based on salient scene point detection. Background technique [0002] The in-depth understanding and utilization of the intelligent robot's workspace environment is an important prerequisite for the robot to realize autonomous intelligent behavior. Only when the mobile robot obtains the environmental map can it carry out path planning, trajectory tracking, global positioning, etc., so as to reach the destination smoothly. At present, the commonly used autonomous map creation methods for mobile robots are mainly divided into the following three categories: [0003] 1. The robot independently explores and navigates in the environment, scans environmental information through laser sensors, and creates grid maps with sensors such as odometers (see "GrisettiG. Class maps are easy to maintain and used for positioning calculat...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/34G06T7/00
CPCG05D1/0274
Inventor 钱堃马旭东戴先中房芳
Owner SOUTHEAST UNIV
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