Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Loopback detection method, related equipment and device

A detection method and loopback technology, applied in the field of computer vision, can solve problems such as difficult loopback detection and real-time performance, and achieve the effects of improving accuracy and robustness, saving time, and improving real-time performance

Pending Publication Date: 2022-07-08
杭州华橙软件技术有限公司
View PDF0 Cites 3 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The invention provides a loopback detection method, related equipment and devices to solve the problem that it is difficult to ensure the real-time performance of loopback detection while ensuring the accuracy of the loopback detection method

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Loopback detection method, related equipment and device
  • Loopback detection method, related equipment and device
  • Loopback detection method, related equipment and device

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0025] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0026] see figure 1 , figure 1 It is a schematic flowchart of an embodiment of the loopback detection method provided by the present invention.

[0027] Step S11: Obtain the current key frame of the point cloud data and the position information of the current key frame.

[0028] In the process of laser SLAM mapping, the current key frame of point cloud data and the position information of the current key frame are obtained through lidar or robot...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a loopback detection method, related equipment and device, and the method comprises the steps: obtaining a current key frame of point cloud data and the position information of the current key frame; determining a sub-region corresponding to the current key frame based on the position information of the current key frame, the sub-region being obtained by dividing the target region; responding to a complete historical key chain existing in the sub-region corresponding to the current key frame, and matching the complete historical key chain with the current key frame; wherein the complete historical key chain is composed of at least one continuous historical key frame; and determining that loopback detection is successful in response to successful matching of the current key frame and the complete historical key chain. By means of the mode, the loopback detection accuracy can be guaranteed while the real-time performance of loopback detection is guaranteed.

Description

technical field [0001] The present invention relates to the field of computer vision, in particular to a loop closure detection method, related equipment and apparatus. Background technique [0002] SLAM technology is currently an important method and technology to achieve accurate mapping and positioning. It is mainly used in some situations where there is no GPS signal or the GPS signal cannot accurately provide accurate positioning information, such as indoors or caves. [0003] Loopback detection is a very important module in SLAM technology (SLAM: simultaneous localization and mapping, real-time positioning and map construction). Backend optimization to reduce accumulated error. [0004] However, it is difficult for most of the current loop closure detection methods to ensure the real-time performance of the loop closure detection while ensuring the accuracy. SUMMARY OF THE INVENTION [0005] The present invention provides a loopback detection method, related equipm...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): G06V20/40G06V10/25
Inventor 涂曙光马子昂刘征宇谢运
Owner 杭州华橙软件技术有限公司
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com