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Positioning method and device, electronic equipment and storage medium

A technology of current position and pose, applied in character and pattern recognition, image analysis, image enhancement, etc., can solve the problems of high false detection rate of loopback detection, map construction error, and easy mismatch, etc., to reduce the amount of calculation, The effect of reducing false detection rate and improving accuracy

Active Publication Date: 2021-08-13
BEIJING YOUZHUJU NETWORK TECH CO LTD
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Problems solved by technology

[0004] However, the existing 2D laser SLAM algorithm uses the matching between laser point clouds for loop detection. Due to the limited information provided by the laser point cloud, it is prone to mis-matching, which will lead to large errors in map construction and lead to the false detection rate of loop detection. High, unable to meet positioning requirements

Method used

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  • Positioning method and device, electronic equipment and storage medium
  • Positioning method and device, electronic equipment and storage medium
  • Positioning method and device, electronic equipment and storage medium

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Embodiment Construction

[0026] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the drawings, it should be understood that the disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein; A more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are for exemplary purposes only, and are not intended to limit the protection scope of the present disclosure.

[0027] It should be understood that the various steps described in the method implementations of the present disclosure may be executed in different orders, and / or executed in parallel. Additionally, method embodiments may include additional steps and / or omit performing illustrated steps. The scope of the present disclosure is not limited in this regard. ...

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Abstract

The embodiment of the invention provides a positioning method and device, electronic equipment and a storage medium. The method comprises the steps that a target local semantic point cloud map, a global semantic grid map and a laser point cloud map of a current position are acquired, and each grid of the global semantic grid map records a probability value that a target semantic object exists in the grid; pose recognition is performed based on the target local semantic point cloud map and the global semantic grid map to obtain a candidate pose set; and a target pose is determined according to the laser point cloud map and the candidate pose set, wherein the target pose comprises a loopback pose and / or a relocation pose. According to the embodiment of the invention, by adopting the technical scheme, the calculation amount required in the positioning process can be reduced, and the loopback detection / repositioning speed can be improved.

Description

technical field [0001] The embodiments of the present disclosure relate to the technical field of positioning, and in particular, to a positioning method, device, electronic equipment, and storage medium. Background technique [0002] When realizing the autonomous navigation of the robot, it is necessary to locate the robot, such as loop detection or repositioning of the robot. [0003] At present, 2D lidar-based real-time positioning and map construction (Simultaneous Localization And Mapping, SLAM) technology is generally used to locate indoor robots, and the loop detection module is used to compare the local laser point cloud at the current position with the laser point cloud in the historical map. Matching, judging whether the current position of the robot is the position it once passed, and sending the detected loopback pose to the backend. [0004] However, the existing 2D laser SLAM algorithm uses the matching between laser point clouds for loop detection. Due to the...

Claims

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Application Information

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IPC IPC(8): G06T7/70G06T17/05G06T17/20G06K9/62
CPCG06T7/70G06T17/205G06T17/05G06T2207/10028G06F18/23
Inventor 朱敏昭孔涛李磊
Owner BEIJING YOUZHUJU NETWORK TECH CO LTD
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