Moving device and positioning method thereof

A technology of a mobile device and a positioning method, applied in the field of positioning, can solve the problems of increasing estimation error and affecting positioning accuracy, etc.

Active Publication Date: 2017-01-25
WILLAND (BEIJING) TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The embodiments of the present invention provide a mobile device and its positioning method, which solves the technical problem in the prior art that the estimation error of the pose of the mobile device based on the positioning of the mobile device will continue to increase, which will seriously affect the positioning accuracy.

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  • Moving device and positioning method thereof
  • Moving device and positioning method thereof
  • Moving device and positioning method thereof

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Embodiment approach

[0073] Three sets of feature descriptors are correspondingly extracted at T1, T2, and T3 moments before the current moment (that is, T4). For the convenience of description, they are respectively named: feature descriptors of group A extracted at time T1, feature descriptors of group B extracted at time T2, feature descriptors of group C extracted at time T3, feature descriptors of group D extracted at time T4 (i.e. A set of feature descriptors), then independently perform the following three steps: compare the feature descriptors of group D and feature descriptors of group A similarly, and determine that the feature descriptors of group D and feature descriptors of group A satisfy the preset similarity The number of descriptors of the condition is a; the similarity comparison between the feature descriptors of group D and the feature descriptors of group B is carried out, and the number of descriptors satisfying the preset similarity condition between the feature descriptors o...

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Abstract

The invention discloses a moving device and a positioning method thereof. The positioning method includes: in the moving process when the moving device collects visual feature points, extracting first feature descriptors of the visual feature points collected at the current moment; performing closed-loop detection on the first feature descriptors and feature descriptors extracted before respectively; when a closed loop is detected on the basis of the first feature descriptors and second feature descriptors, determining pose of the moving device at the current moment through spatial coordinates of the visual feature points described by the second feature descriptors which are one of the feature descriptors extracted before. By the moving device and the positioning method, the technical problem that positioning accuracy is affected seriously by accumulated errors of pose estimation when the moving device moves is solved, and accuracy of positioning based on the moving device is improved.

Description

technical field [0001] The present invention relates to the technical field of positioning, in particular to a mobile device and a positioning method thereof. Background technique [0002] Existing indoor positioning methods for robots based on vision and inertial devices are mainly divided into two categories: 1) positioning methods for establishing environmental maps, such as: visual SLAM (Simultaneous Localization And Mapping, real-time positioning and map construction) technology, 2) not A positioning method that needs to establish a map of the environment, such as: visual / inertial odometry technology. [0003] The positioning method of establishing the environment map: the robot usually establishes a map of the environment while estimating its own position and posture, and obtains the position information of the robot by optimizing the trajectory of the robot itself and the relative position relationship between each position and posture in the trajectory and the landma...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/206G01C21/20
Inventor 庞富民陈子冲
Owner WILLAND (BEIJING) TECH CO LTD
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