Laser coarse registration method and device, mobile terminal and storage medium

Abstract

The embodiment of the invention provides a laser coarse registration method and device, a mobile terminal and a storage medium. The method comprises: determining position information of obstacles around a robot; converting the position information of the obstacle into an obstacle image; obtaining map data of a pre-established probability map; converting the map data into a map image; and carryingout matching processing on the obstacle image and the map image through a convolutional neural network to obtain a coarse registration position of the robot on the map image. In the embodiment of theinvention, the obstacle images and map images obtained by the robot are subjected to convolution matching processing through the convolutional neural network, rough registration of laser data collected by the robot and the probability map is achieved, that is, the computational complexity of violent matching can be avoided through rough registration of the convolutional neural network, the registration range is expanded, and the precision of rough registration is improved.

Description

technical field [0001] The present invention relates to the technical field of image processing, in particular to a laser rough registration method, device, mobile terminal and storage medium. Background technique [0002] With the development of mobile robots and the continuous improvement of their performance, people's demand for them has gradually increased. For example, drones, sweeping robots, 3D printing robots, monitoring robots, etc. have greatly facilitated people's lives. Autonomous path planning and navigation for mobile robots requires perception and modeling of the surrounding environment. One of the most commonly used is the use of lidar-based real-time localization and map construction (SLAM, simultaneous localization and mapping) algorithm. The SLAM algorithm based on lidar, in the process of moving the robot, matches the data obtained by irradiating the laser on the obstacle with the map, so as to calculate the pose of the mobile robot on the map. At the s...

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Problems solved by technology

[0005] The technical problem to be solved by the embodiments of the present invention is to provide a laser rough registration method, device, mobile terminal and storage medium to solve the problem of rough registration caused by violent matching in the prior art which increases the computational complexity. Technical issues with reduced pose accuracy

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