Method and device for simultaneous localization and map construction based on rodent model

Abstract

The present invention provides a method and device for synchronous positioning and map construction based on a rodent model. The method includes: obtaining the current visual image of the robot transmitted by the camera device; obtaining the displacement speed of the characteristic area of ​​the current visual image transmitted by the visual odometer , rotation angular velocity and direction; update the network activity of the pose cell network according to the displacement velocity, rotation angular velocity and direction; calculate the maximum scene similarity between the current visual image and the visual image information base, and obtain the corresponding template image with the maximum scene similarity The first pose coordinates of the robot; update the visual image information base according to the maximum scene similarity; determine the robot’s The current experience point is to realize the positioning correction of the robot, and draw the actual experience map, and carry out the simultaneous positioning and map construction of the robot.

Description

[0001] technology neighborhood [0002] The invention relates to a robot control neighborhood, in particular to a method and device for synchronous positioning and map construction based on a rodent model. Background technique [0003] 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. [0004] Among them, the rodent model integrates visual odometer information and visual scene image information into the pose perception cell ...

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 (SLAM), 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

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