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Offline map preservation and real-time relocation method for mobile robot

A mobile robot and offline map technology, applied in the field of mobile robots, can solve the problems of poor human-computer interaction, no offline visualization, and no real-time attention, and achieve the effect of improving robustness.

Active Publication Date: 2021-06-25
GUIZHOU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

ORB-SLAM2 provides a visual interface during operation, but when the SLAM system is mounted on a mobile robot, users will not pay attention to its status during map construction in real time, but hope to view information such as maps and trajectories after the operation is over. ORB-SLAM2 does not provide the function of offline visualization, and the robot-based human-computer interaction is poor

Method used

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  • Offline map preservation and real-time relocation method for mobile robot
  • Offline map preservation and real-time relocation method for mobile robot
  • Offline map preservation and real-time relocation method for mobile robot

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Experimental program
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Effect test

Embodiment

[0056] 1. ORB-SLAM2

[0057] ORB-SLAM2 was proposed by RMur-Artal et al. in 2017. It is an improved version of ORB-SLAM. On the basis of monocular, it adds support for binocular and RGB-D cameras. It is a complete visual SLAM solution. The system framework of ORB-SLAM2 mainly includes three parallel threads: Tracking, Local Mapping, and Loop Closing.

[0058] 1.1 Tracking

[0059] The main task of the tracking thread is to extract ORB features and estimate the camera pose for each frame of input image. Due to factors such as environmental changes or violent camera movements, the tracking state will change at any time. In order to ensure the robustness of the system, the tracking thread will switch between three tracking models according to different situations: motion model, reference frame model, and relocation model , the input data of each tracking model is different, but the goal is to solve the initial camera pose. PnP (Perspective-n-Point) is the main pose estimation ...

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Abstract

The invention discloses a mobile robot offline map storage and real-time relocation method, including offline map construction and storage, offline map loading and relocation, and is characterized in that: using the system offline map construction and storage method, when the system is started ( ORB-SLAM2), the offline map is first detected and loaded. When the offline map is successfully loaded, the system enters the tracking loss state, which triggers the relocation model to find the camera position, and can continue to perform global tracking and positioning as the camera moves. The invention has the characteristics of being able to quickly and completely save offline map data, realize real-time relocation and human-computer interaction, and have good system robustness.

Description

technical field [0001] The invention relates to the field of mobile robots, in particular to a method for off-line map storage and real-time relocation of a mobile robot. Background technique [0002] With the advancement of science and technology and the improvement of people's living standards, intelligent products have begun to attract the attention of the public and are gradually applied to various fields of society, prompting the era of rapid development of artificial intelligence technology. Robotics is the most important scientific research direction in the field of artificial intelligence. How to make robots closer to human thinking and behavior is the core issue of current robotics technology. Simultaneous Localization and Mapping (SLAM) technology helps robots to locate in real time and build environmental maps in unknown environments, which is the basis for mobile robots to achieve autonomous positioning and navigation. Visual SLAM is mainly divided into three ca...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F9/445G06K9/00G06T7/292G06F16/29
CPCG06F9/44521G06T7/292G06V20/40
Inventor 杨观赐陈占杰苏志东李杨袁庆霓
Owner GUIZHOU UNIV
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