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Robot SLAM object state detection method in dynamic sparse environment

A mobile robot, robot technology, applied in the direction of instruments, computer parts, image analysis, etc., can solve the problems of static objects with reduced positioning accuracy, unable to solve the SLAM problem of mobile robots, etc., to achieve the effect of improving accuracy

Active Publication Date: 2014-05-28
BEIJING UNIV OF CHEM TECH
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Problems solved by technology

However, the former only considers the static environment and cannot solve the SLAM problem of mobile robots in a dynamic environment; while the latter considers the dynamic environment, but its premise is that there are enough landmarks. When the landmarks are scarce, the positioning accuracy is caused by the reduction of environmental information. Falling is easy to make static objects be wrongly judged as dynamic objects

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  • Robot SLAM object state detection method in dynamic sparse environment
  • Robot SLAM object state detection method in dynamic sparse environment
  • Robot SLAM object state detection method in dynamic sparse environment

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Embodiment Construction

[0033] The process of the method involved in the present invention is as follows figure 1 As shown, including the following steps:

[0034] Step 1: Collect environmental images and obtain the feature vector set of the images.

[0035] Step 1.1, the mobile robot collects environmental images through binocular vision sensors.

[0036] Step 1.2: Use the multi-scale and multi-directional Gabor function to construct the energy image space, and use the non-maximum suppression method to screen the extreme points detected in the 8-point neighborhood.

[0037] (1) Design a set of multi-directional odd and even symmetric filters based on Gabor function:

[0038] g sin = 1 2 πσ 2 exp ( - x 2 + y 2 2 σ 2 ) sin ( σ π ( x cos θ + y sin θ ) )

[0039] g cos = 1 2 πσ 2 exp ( - x 2 + y 2 2 σ 2 ) cos ( σ π ( x cos θ + y sin...

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Abstract

The invention relates to a robot SLAM object state detection method in a dynamic sparse environment. Firstly, image collecting of the environment is carried out through a vision sensor, and a feature vector set of images is obtained through a SURF describor; then matching of an image of the current moment and an image of a historical moment is carried out according to a nearest neighbor algorithm, whether matching is successfully carried out is detected by means of an RANSAC algorithm and whether an object of the current moment is consistent with the object of the historical moment is judged according to the detection result; depth information of the object is obtained in a parallax error method, and a world coordinate and a relative position difference of the object at the two moments are obtained according to a plane geometrical relationship; ultimately, an acceptance region is obtained by combination with hypothesis testing, and the state of the object is judged by detecting whether the relative position difference of the object is within the acceptance area. When the state of the object in the environment is detected, influences of positioning and measurement errors of a moving robot on an object position observation value are taken into consideration, and object state judgment accuracy is improved.

Description

Technical field [0001] The invention belongs to the technical field of mobile robot navigation, and relates to an object state detection method for simultaneous localization and mapping (SLAM) problems of a mobile robot under a dynamic sparse environment. Background technique [0002] SLAM technology is called the "Holy grail" in the field of autonomous mobile robots, and it is the key to the realization of complete intelligence for mobile robots. With the widespread application of mobile robots in logistics, detection, service and other fields, SLAM issues have become a research hotspot in the field of mobile robots, and have increasingly received close attention from the academic and engineering circles. [0003] When a mobile robot is working in a dynamic environment, it is necessary to treat static objects and dynamic objects differently: only static objects can be used as road signs to provide positioning information for the robot, while dynamic objects can only be treated as ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/62G06T7/00G06T5/50
Inventor 曹政才黄志明付宜利马逢乐陈嵩翁志萍王炅
Owner BEIJING UNIV OF CHEM TECH
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