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Simultaneous localization and mapping method and simultaneous localization and mapping apparatus based on rodent model

An animal model and synchronous positioning technology, which is applied to services based on location information, road network navigators and other directions. Effect

Inactive Publication Date: 2018-10-19
ANHUI UNIVERSITY OF TECHNOLOGY AND SCIENCE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, rodent models have been widely used in the positioning and navigation of robots, solving many problems that are difficult to solve in Simultaneous Localization and Mapping (MAP), but the visual scene image information obtained by rodent models and There is a certain degree of error in the visual odometry information. Although some scholars have introduced FAB-MAP (fast appearance based mapping) for the error of the visual odometer, this closed-loop detection algorithm based on the historical model can improve the system by matching key frames in real time. stability, but the positioning accuracy is not stable, and the robustness is not strong
Therefore, a separate rodent model needs to be further improved in terms of positioning accuracy and robustness

Method used

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  • Simultaneous localization and mapping method and simultaneous localization and mapping apparatus based on rodent model
  • Simultaneous localization and mapping method and simultaneous localization and mapping apparatus based on rodent model

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Embodiment 1

[0058] combine figure 1 , the rodent model-based synchronous positioning and map construction method provided in this embodiment, the method includes:

[0059] Step S1, acquiring the current visual scene image information of the robot;

[0060] Step S2, according to the pre-built rodent model, match the pose information with the maximum scene similarity with the current visual scene image information from the pre-built visual information database;

[0061] Step S3, when the scene similarity is lower than the set threshold, obtain the current WIFI signal strength set of the robot;

[0062] Step S4, according to the rodent model, match the pose information with the maximum fingerprint similarity with the current WIFI signal strength set from the pre-built WIFI fingerprint map;

[0063] Step S5, perform synchronous positioning and map construction on the robot according to the pose information corresponding to the maximum scene similarity and / or maximum fingerprint similarity. ...

Embodiment 2

[0129] combine figure 2 According to an embodiment of the present invention, a device for synchronous positioning and map construction of a robot based on a rodent model, the device includes:

[0130] An information acquisition unit 1, configured to acquire the current visual scene image information of the robot;

[0131] The first matching unit 2 is used to match the pose information with the maximum scene similarity with the current visual scene image information from the pre-built visual information library according to the pre-built rodent model;

[0132] The data judging unit 3 is used to obtain the current WIFI signal strength set of the robot when the scene similarity is lower than the set threshold;

[0133] The second matching unit 4 is used to match the pose information with the maximum fingerprint similarity with the current WIFI signal strength set from the pre-built WIFI fingerprint map according to the rodent model;

[0134] The synchronous positioning unit 5 ...

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PUM

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Abstract

The invention provides a simultaneous localization and mapping method and a simultaneous localization and mapping apparatus based on a rodent model. The simultaneous localization and mapping method comprises: acquiring the current visual field scene image information of a robot; according to a pre-constructed rodent model, matching to a pre-constructed visual field information database to obtain pose information, wherein the pose information and the current visual field scene image information have the maximum scene similarity; acquiring the current WIFI signal intensity set of the robot whenthe scene similarity is lower than a set threshold; according to the rodent model, matching to a pre-constructed WIFI fingerprint map to obtain pose information, wherein the pose information and the current WIFI signal intensity set have the maximum fingerprint similarity; and according to the pose information corresponding to the maximum scene similarity and / or the maximum fingerprint similarity,carrying out simultaneous localization and mapping on the robot.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a method and device for synchronous positioning and map construction based on a rodent model. Background technique [0002] Simultaneous localization and map construction are major challenges for mobile robots. Because the mobile robot is essentially a mobile sensor platform, although the types and capabilities of the sensors are different, there are widespread problems such as odometry drift and different noises. Later, after continuous exploration by scholars, bionic robots (robots controlled by bionic technology) gradually showed good application prospects, showing perfect biological rationality and high adaptability to the natural environment. Among them, most bionic robots use rodent animal models for bionic technology. [0003] Among them, the rodent model integrates visual odometer information and visual scene image information into the pose perception cell model, so that th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/32G01C21/34H04W4/02
CPCG01C21/32G01C21/34H04W4/02
Inventor 秦国威陈孟元
Owner ANHUI UNIVERSITY OF TECHNOLOGY AND SCIENCE
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