Rod-shaped object recognition-based mobile robot self-positioning system

Abstract

The invention discloses a rod-shaped object recognition-based mobile robot self-positioning system. According to the invention, the positioning method of the system includes the following steps that:a rod-shaped object off-line map is constructed; a laser radar is utilized to obtain point cloud data around a moving object, and rod-shaped object information is extracted from the point cloud data;and self-positioning is performed according to the rod-shaped object information and the rod-shaped object off-line map, so that the positioning information of the moving object can be obtained. According to the rod-shaped object recognition-based mobile robot self-positioning system of the invention, the laser radar is utilized to identify and track a rod-shaped object; data processing and fusionare performed through a corresponding positioning algorithm on the basis of the information of an inertial measurement unit and a GPS, and therefore, the self-positioning of the moving object can berealized. With the method of the invention adopted, positioning accuracy of a decimeter level can be realized. Capable of meeting actual application requirements, the system or the method has the advantages of low cost, high precision, real-time performance and robustness.

Description

technical field [0001] The invention belongs to the technical field of robot navigation, and relates to a self-positioning system of a mobile robot based on rod-shaped object recognition, such as a method for positioning a mobile vehicle based on rod-shaped object recognition. Background technique [0002] When navigating intelligent mobile robots or self-driving vehicles, high-precision maps are needed to reduce the uncertainty caused by perception and recognition errors and noise. At the same time, various sensors are matched with the map, and data processing is performed through corresponding algorithms. So as to obtain the accurate self-pose. [0003] The current commonly used positioning method generally uses a high-precision inertial measurement device with a differential global positioning system (INS / DGPS), but this method has the following disadvantages: [0004] First, the cost of the sensor itself is too high. A high-precision INS / DGPS system requires tens of th...

AI Technical Summary

Problems solved by technology

The disadvantage of this method is that, on the one hand, the uncertainty of the characteristics of the collected information, on the other hand, because the feature calculation and matching of point clouds or images requires a large amount of calculation, the demand for processor hardware is relatively large, and the cost is also high. will improve

[0007] The positioning scheme based on lidar or stereo camera is based on the identification and matching of road signs. The common way is to locate through the identification of traffic planning lines. The main reason for this method is that the applicable occasions are relatively limited and must be occasions with traffic planning lines. Not available on some suburban roads, maintenance roads or internal roads

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