classified sliding window method, SLAM positioning method, system thereof and electronic equipment

A positioning method and sliding window technology, applied in character and pattern recognition, instruments, surveying and mapping and navigation, etc., can solve problems such as unrecoverable, unreachable positioning accuracy, drift, etc.

Active Publication Date: 2021-06-22
SUNNY OPTICAL ZHEJIANG RES INST CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] However, compared with EKF-SLAM, although the filter optimization method such as S-MSCKF has improved real-time performance and positioning accuracy, it...

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  • classified sliding window method, SLAM positioning method, system thereof and electronic equipment
  • classified sliding window method, SLAM positioning method, system thereof and electronic equipment
  • classified sliding window method, SLAM positioning method, system thereof and electronic equipment

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Embodiment Construction

[0091] The following description serves to disclose the present invention to enable those skilled in the art to carry out the present invention. The preferred embodiments described below are only examples, and those skilled in the art can devise other obvious variations. The basic principles of the present invention defined in the following description can be applied to other embodiments, variations, improvements, equivalents and other technical solutions without departing from the spirit and scope of the present invention.

[0092] In the present invention, the term "a" in the claims and the specification should be understood as "one or more", that is, in one embodiment, the number of an element may be one, while in another embodiment, the number of the element Can be multiple. Unless it is clearly indicated in the disclosure of the present invention that there is only one element, the term "a" cannot be understood as unique or single, and the term "a" cannot be understood a...

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Abstract

The invention discloses a classified sliding window method, an SLAM positioning method, a system thereof and electronic equipment. The classified sliding window method comprises the following steps: S110: determining whether the number of all observation frames in a window reaches the maximum window number of the window; s120, when the number of the observation frames reaches the maximum window number, according to the relative pose between the oldest first frame and the oldest second frame in the window, eliminating a preset number of observation frames from the window in batches at intervals; and S130, when the number of the observation frames is smaller than the maximum window number, further determining whether the number of the observation frames is larger than a preset frame number threshold value or not, and if yes, selectively rejecting the observation frames from the window according to the feature point tracking rate of the current observation frame, and if not, selectively rejecting the observation frames from the window according to the feature point tracking rate of the current observation frame; and if not, reserving all observation frames in the window.

Description

technical field [0001] The invention relates to the technical field of SLAM, in particular to a classification sliding window method, a SLAM positioning method, a system thereof, and an electronic device. Background technique [0002] With the continuous improvement of computing technology, intelligent technology and sensor technology, intelligent applications such as AR / VR, drones and intelligent robots have poured into the market, making positioning and map construction (Simultaneous Localization AndMapping, SLAM for short) technology also attracts attention . Usually, the SLAM problem can be basically divided into two parts: the front end and the back end: the front end mainly processes the data acquired by the sensor and converts it into a relative pose or a form that other machines can understand; The problem of empirical estimation, that is, the optimal estimation of pose or map. The current SLAM positioning technology generally uses visual inertial odometry (VIO) fo...

Claims

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Application Information

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IPC IPC(8): G06K9/00G06K9/46G06K9/62G01C11/04G01C21/16G01C21/20
CPCG01C21/165G01C21/20G01C11/04G06V20/10G06V10/462G06F18/24
Inventor 兰国清周俊黄菊胡增新
Owner SUNNY OPTICAL ZHEJIANG RES INST CO LTD
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