Indoor real-time positioning and three-dimensional map construction method based on single-line laser

A real-time positioning and three-dimensional map technology, applied in the field of indoor three-dimensional environment map, to achieve low-cost, real-time pose estimation effect

Active Publication Date: 2018-04-17
WUHAN UNIV
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  • Claims
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Problems solved by technology

However, for indoor service robots, it is not enough to det

Method used

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  • Indoor real-time positioning and three-dimensional map construction method based on single-line laser
  • Indoor real-time positioning and three-dimensional map construction method based on single-line laser
  • Indoor real-time positioning and three-dimensional map construction method based on single-line laser

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Embodiment Construction

[0019] In order to facilitate those of ordinary skill in the art to understand and implement the present invention, the present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the implementation examples described here are only used to illustrate and explain the present invention, and are not intended to limit this invention.

[0020] please see figure 1 , a method for indoor real-time positioning and three-dimensional map construction based on single-line laser provided by the present invention, comprising the following steps:

[0021] Step 1.1: Starting from a starting point on the scanning line, perform least squares straight line fitting on the following 10 scanning points (including the starting point) scanning points, and calculate the fitting error;

[0022] The expression of the fitting error is as follows:

[0023]

[0024] Among them, a, b are straight line fitting pa...

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Abstract

The invention discloses an indoor real-time positioning and three-dimensional map construction method based on a single-line laser. A single-line laser range finder is fixed on a rotating apparatus, so that the defects that the single-line laser range finder only can acquire the plane 2D data can be overcome, and the indoor 3D environmental data can be acquired. For the acquired 3D scanning data,the six-degree-of-freedom pose estimation for a laser scanning line can be realized by virtue of an accurate structural map building algorithm and a robust scanning line matching algorithm, so that amovement locus of a sensor can be obtained, and a three-dimensional map of a scanned environment can be constructed according to the laser scanning data. By adopting the indoor real-time positioning and three-dimensional map construction method, an accurate indoor real-time positioning and map construction method can be realized.

Description

technical field [0001] The invention belongs to the technical field of indoor three-dimensional environment maps, and relates to a single-line laser-based indoor real-time positioning and three-dimensional map construction method, which can be used for real-time positioning services in indoor environments and meets the construction requirements for indoor three-dimensional environment maps. Background technique [0002] With the rapid development of computer technology, automation technology, artificial intelligence technology and other technologies, and the gradual improvement of people's living standards, the demand for indoor service robots is constantly growing. Different from traditional industrial robots, service robots need to cope with more complex and changeable working environments. Therefore, automation and intelligence are two necessary characteristics of indoor service robots. Autonomous and intelligent service robots can effectively work in complex and unknown ...

Claims

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Application Information

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IPC IPC(8): G01C21/20G01S17/89
CPCG01C21/206G01S17/89
Inventor 姚剑谈彬罗磊李礼
Owner WUHAN UNIV
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