Electric power inspection robot positioning method based on multi-sensor fusion
A multi-sensor fusion and robot positioning technology, applied in the field of intelligent robots, can solve problems such as low precision, high cost, and poor stability
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[0198] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0199] A method for positioning an electric inspection robot based on multi-sensor fusion, the steps of which are as follows:
[0200] Step 1: Preprocess the data collected by the camera, IMU and odometer in the robot system respectively to obtain image feature points, IMU pre-integration and odometer pre-integration, the specific method is as follows;
[0201] S1.1. Image feature point extraction and tracking:
[0202] The optical flow method is a method of ...
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