Repositioning method and device in centralized cooperative SlAM

Abstract

The invention discloses a repositioning method and a repositioning device in a centralized cooperative SlAM, which are applied to a centralized cooperative SLAM system comprising a server and at leastone client, and the method comprises the following steps: acquiring a to-be-positioned key frame in the current client under the condition that the current client loses positioning, positioning the to-be-positioned key frame based on each key frame in the key frame database of the current client; and under the condition of positioning failure, judging whether the current client has a combined mapin the target map or not, if so, selecting a preset number of key frames in the combined map, and sending the preset number of key frames to the current client, so that the current client performs repositioning based on the preset number of key frames to be positioned. In the above process, after positioning based on the client fails, the preset number of key frames are continuously selected fromthe server and sent to the client, so that the client performs repositioning based on the preset number of key frames, and the probability of successful positioning is improved.

Description

technical field [0001] The present invention relates to the technical field of positioning and map construction, in particular to a relocation method and device in a centralized collaborative S1AM. Background technique [0002] Centralized co-location and map construction SLAM (Simultaneous Localization and Mapping) includes multiple clients that can independently complete positioning and mapping functions and a server with powerful computing capabilities. Among them, the client sends map information to the server, and the server uses multiple client map data for matching and merging to construct a server map with richer information, and transmits information to the client to realize the communication between multiple clients. Information sharing and collaboration. [0003] Existing clients can only relocate based on their own key frame database after the positioning is lost. Due to the limited data in their own key frame database, relocation failures often occur. Content...

AI Technical Summary

Problems solved by technology

[0004] In view of this, the present invention provides a relocation method and device in a centralized cooperative SlAM, which is used to solve the problem that the existing client can only perform relocation based on its own key frame database after the location is lost. The data in the keyframe database itself is limited, and the problem of relocation failure often occurs. The specific solution is as follows:

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