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Method for simultaneously constructing two-dimensional map and three-dimensional map

A two-dimensional map and three-dimensional map technology, which is applied in the directions of electromagnetic wave re-radiation, measuring devices, instruments, etc., can solve the problems of large errors and low positioning accuracy, and achieve the effects of low cost, avoiding wrong matching, and strong environmental applicability

Inactive Publication Date: 2019-09-17
SHANTOU UNIV
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  • Application Information

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Problems solved by technology

This method can solve the problems of low positioning accuracy and large errors of mobile robots during indoor navigation.

Method used

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  • Method for simultaneously constructing two-dimensional map and three-dimensional map
  • Method for simultaneously constructing two-dimensional map and three-dimensional map
  • Method for simultaneously constructing two-dimensional map and three-dimensional map

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Embodiment Construction

[0030] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0031] The experimental environment of the embodiment of the present invention is the corridor of a certain experimental building, the indoor environment of offices and laboratories. In this embodiment, the mobile robot explores the public areas of the floors.

[0032] Use TurtleBot mobile robot in the present embodiment, on this mobile robot, wheel encoder, laser scanner and Kinect sensor are installed, in the present embodiment, this laser scanner is Rplidar laser radar, and the scanning range of this Rplidar laser radar is 360°, the maximum measuring distance is 6 meters. The implementation system adopted is the Ubuntu system, and the ROS system platform and Arduino development board are built, and the Opencv open source software is used to realize it with C++...

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Abstract

The embodiment of the invention discloses a method for simultaneously constructing a two-dimensional map and a three-dimensional map, and the method is implemented by a mobile robot provided with a wheel encoder, a laser scanner and a Kinect sensor. The method comprises the following steps of obtaining output data of the laser scanner, and constructing a two-dimensional map of an indoor environment; in the process of constructing the two-dimensional map, obtaining a pose and a pose transformation matrix of the mobile robot by the mobile robot; while the mobile robot constructs the two-dimensional map, acquiring a two-dimensional image of the indoor environment by using the Kinect sensor, and converting the two-dimensional image into a three-dimensional point cloud image; replacing the Kinect pose and pose transformation matrix by using the pose and pose transformation matrix of the robot; and finishing adjacent point cloud image splicing according to the pose and pose transformation matrix of the robot, and simultaneously constructing the two-dimensional map and the three-dimensional map of the indoor environment.

Description

technical field [0001] The invention relates to the field of indoor environment map construction, in particular to a method for constructing a three-dimensional map based on a two-dimensional map by fusing a Rao-Blackwellised particle filter and a feature point method. Background technique [0002] With the rapid development of computer technology, satellite positioning system and Internet technology, indoor environment composition and positioning technology have been widely used in real life. At present, the problem of map construction in indoor environments has become a hot field. Although the method of building a two-dimensional map based on lidar is relatively mature and complete, it cannot obtain the real three-dimensional shape of the object, only a plane can be obtained, making positioning not effectively. [0003] At present, in the indoor 3D map construction method, it is more popular to use feature points to estimate camera motion (feature point method) and to cal...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01C21/00G01S17/89
CPCG01C21/005G01C21/206G01S17/89
Inventor 范衠陈颖李冲卞新超朱贵杰黄思博崔岩
Owner SHANTOU UNIV
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