CN104424637B

CN104424637B - The method and smart machine of information processing

Info

Publication number: CN104424637B
Application number: CN201310392816.9A
Authority: CN
Inventors: 宋爽
Original assignee: Lenovo Beijing Ltd
Current assignee: Lenovo Beijing Ltd
Priority date: 2013-09-02
Filing date: 2013-09-02
Publication date: 2017-06-27
Anticipated expiration: 2033-09-02
Also published as: CN104424637A

Abstract

The invention discloses a kind of method of information processing, including：Obtain first information set and the second information aggregate；Corresponding smart machine first position information in the environment during each first information in calculating acquisition first information set；The first sub-information is obtained respectively from least two first information in first information set；The first object set is obtained respectively from the first sub-information at least two first information；The second place information of each the first object in the first object set in the first sub-information at least two first information is calculated respectively；The 3rd positional information of each the first object in the first object set in the first sub-information at least two first information is calculated respectively；The 3rd positional information to the object of identical first in the first object set in the first sub-information at least two first information for being calculated optimizes treatment.The invention also discloses a kind of smart machine.The embodiment of the present invention improves the efficiency and accuracy rate of characteristic point position acquisition of information.

Description

The method and smart machine of information processing

Technical field

The present invention relates to the information processing technology, more particularly to a kind of three-dimensional map information processing method based on smart machine And smart machine.

Background technology

At present, the application with Based Intelligent Control in the industry is more extensive, and smart machine is just being applied to various technique productions In.Carry out environmental information to create using smart machine is also one of commercial Application of smart machine.It is main in current environmental information To be demarcated by determining the positional information of some characteristic points in smart machine collection image, pass through many spies for being extracted Levy positional information a little and complete the collection of environmental information.

Because there is displacement error in smart machine, so it is determined that characteristic point positional information when, naturally also There is error, and error once accumulating, the environmental information for being formed will be quite inaccurate.Therefore, environmental information wound is being carried out When building, the positional information amendment to characteristic point will become quite important, once the positional information of the characteristic point for being gathered is inaccurate, The practicality of the environmental information for being created will be deteriorated.

The content of the invention

In view of this, the main purpose of the embodiment of the present invention is the method and smart machine for providing a kind of information processing, Can in the information of collection to the positional information of characteristic point in collection information be modified, obtain more accurately information.

To reach above-mentioned purpose, what the technical scheme of the embodiment of the present invention was realized in：

A kind of method of information processing, is applied in smart machine；Methods described includes：

Obtain first information set and the second information aggregate corresponding to the first information set；

Calculate the corresponding smart machine in the environment first when obtaining each first information in first information set Confidence ceases；

The first sub-information is obtained respectively from least two first information in the first information set；

The first object set is obtained respectively from the first sub-information at least two first information；

According to the second information in second information aggregate corresponding with the first information in first information set, difference Calculate in the first object set in the first sub-information at least two first information each first The second place information of object；

According to the second place information and the smart machine second place information in the environment are calculated respectively Of each the first object in the first object set in the first sub-information at least two first information Three positional informations；

To described first pair in the first sub-information in described at least two first information for being calculated As the 3rd positional information of the object of identical first in set optimizes treatment, the 4th of the object of the identical first is obtained Positional information, as the positional information of the object of the identical first.

A kind of smart machine；Including：First acquisition unit, the first computing unit, second acquisition unit, the 3rd obtain single Unit, the second computing unit, the 3rd computing unit and optimization processing unit, wherein：

First acquisition unit, for obtaining first information set and the second information collection corresponding to the first information set Close；

First computing unit, for calculate obtain first information set in each first information when the corresponding smart machine First position information in the environment；

Second acquisition unit, for being obtained respectively from least two first information in the first information set Take the first sub-information；

3rd acquiring unit, for distinguishing from the first sub-information at least two first information Obtain the first object set；

Second computing unit, for basis second information aggregate corresponding with the first information in first information set In the second information, the first object in the first sub-information at least two first information is calculated respectively The second place information of each the first object in set；

3rd computing unit, according to the second place information and the smart machine second place information in the environment Each in the first object set in the first sub-information at least two first information is calculated respectively 3rd positional information of the first object；

Optimization processing unit, for the first son letter in the described at least two first information to being calculated The 3rd positional information of the object of identical first optimizes treatment in first object set in breath, obtains described identical The first object the 4th positional information, as the positional information of the object of the identical first.

In embodiments of the invention, first information set and the second information collection corresponding to the first information set are obtained Close；Corresponding smart machine first position letter in the environment during each first information in calculating acquisition first information set Breath；The first sub-information is obtained respectively from least two first information in the first information set；From it is described to The first object set is obtained respectively in the first sub-information in few more than two first information；According to first information collection The second information in corresponding second information aggregate of the first information in conjunction, calculates at least two institute respectively State the second place information of each the first object in the first object set in the first sub-information in the first information；According to institute State second place information and the smart machine second place information in the environment and calculate described at least two respectively 3rd positional information of each the first object in the first object set in the first sub-information in the first information；To institute It is identical in first object set in the first sub-information in the described at least two first information for calculating The 3rd positional information of the first object optimize treatment, obtain the 4th positional information of the object of the identical first, make It is the positional information of the object of the identical first.In the embodiment of the present invention, by continuously acquiring multiple first information, and extract The first sub-information for coinciding in these multiple first information, obtains the first object respectively from the first sub-information for coinciding Set, and calculate the positional information of all first objects in each first object set, then the positional information of the first object is entered Row amendment, using the positional information of revised first object as first object positional information.The first object is obtained again During positional information, carried out using parallel mode, so as to improve treatment effeciency；Because the present invention is obtained from multiple first information The positional information of the object of multiple identicals first, and positional information to these the first objects is modified, first for being calculated The positional information of object is more accurate, when the positional information based on the first object creates environmental information, the more practical valency of environmental information Value.

Brief description of the drawings

Fig. 1 is the schematic flow sheet of the method for the information processing of the embodiment of the present invention one；

Fig. 2 is the schematic flow sheet of the method for the information processing of the embodiment of the present invention two；

Fig. 3 is the schematic flow sheet of the method for the information processing of the embodiment of the present invention three；

Fig. 4 is the schematic flow sheet of the method for the information processing of the embodiment of the present invention four；

Fig. 5 is the composition structural representation of the smart machine of the embodiment of the present invention；

Fig. 6 is the composition structural representation of the 3rd computing unit in the smart machine of the embodiment of the present invention；

Fig. 7 is the composition structural representation of optimization processing unit in the smart machine of the embodiment of the present invention；

Fig. 8 is the composition structural representation of the first computing unit in the smart machine of the embodiment of the present invention.

Specific embodiment

The embodiment of the present invention, it is necessary to smart machine during primarily directed to current context information such as three-dimensional map information creating As robot is constantly calculated and corrected to the positional information of acquired characteristic point, but to the positional information calculation of characteristic point And the mode of correction is relatively more, the mode for being calculated is more numerous and diverse, and many calculations need to be aided with many special equipments, cause It is relatively costly.

The embodiment of the present invention is proposed primarily directed to above-mentioned technical problem, by continuously acquiring multiple first information, and The first sub-information for coinciding in these multiple first information is extracted, first is obtained respectively from the first sub-information for coinciding Object set, and the positional information of all first objects in each first object set is calculated, then to the position letter of the first object Breath is modified, using the positional information of revised first object as first object positional information.

It is by the following examples and referring to the drawings, right to make the object, technical solutions and advantages of the present invention become more apparent The present invention is further described.

Fig. 1 is the schematic flow sheet of the method for the information processing of the embodiment of the present invention one, as shown in figure 1, in the present invention one In individual preferred embodiment, the method for information processing is comprised the following steps：

The method of the information processing of the present embodiment is applied in smart machine, and such as smart machine can be intelligence machine People, the intelligent robot has image acquisition units；Used as a preferred exemplary, the image acquisition units of the embodiment of the present invention can Think camera, used as a kind of example, image acquisition units can also be special IMAQ and analysis system, such as can be Image sensor, RGB image sensor etc..The smart machine also has image-capable.

Step 101, obtains first information set and the second information aggregate corresponding to the first information set；

In this example, the first information set includes：The set of the image information frame of the smart machine collection；

Second information aggregate includes：Corresponding to the set of the depth information of each image information frame.

Specifically, the image acquisition units by being set on the smart machine gather continuous image information frame, these companies Continuous image information frame constitutes image information frame set, as first information set.

Corresponding to each image information frame, also to the depth information that there should be the image information frame, depth information set is formed.

Step 102, calculate obtain first information set in each first information when the corresponding smart machine in the environment First position information；

The first position information includes：Positional information of the smart machine in global coordinate system；

In this step, when being acquired to image information frame, the position of smart machine when also to collection image information frame Confidence breath is calculated.

Step 103, obtains the first son respectively from least two first information in the first information set Information；

In this example, by continuously acquiring multiple first information, and coinciding in these multiple first information is extracted First sub-information, obtains the first object set respectively from the first sub-information for coinciding.Specifically, by the figure of smart machine As collecting unit obtains continuous image information frame, the phase of these image information frames is obtained from multiple continuous image information frames Mutual intersection.These continuous multiple images information can be determined by the positional information of foregoing each image information frame The intersection of frame, to obtain identical characteristic point from the image information frame for overlapping.

Step 104, first is obtained from the first sub-information at least two first information respectively Object set；

First object set includes：All characteristic points in image information frame；

In this example, the first object can be smart machine by the spy of the object in image acquisition units institute viewfinder image Levy a little；In this example, characteristic point can be the imaging point at any position on any object.As object edge point, Can be the point inconsistent with the characteristic of the object on object, such as black splotch on white object, raised point on object, Recessed point on object, the rust spot on metal object, the peel point on object table finish paint body etc..

Characteristic point also has many attribute informations such as color（RGB）Information, positional information, feature point description information etc..Feature Description information is the information of the attribute of characteristic feature point, and characteristic point can be uniquely determined by characterization information.Specifically, may be used Information and the spy of characteristic point of each characteristic point in set of characteristic points are determined by SIFT algorithms, SURF algorithm or ORB algorithms etc. Levy description information；One characteristic point of characterization information energy unique mark of characteristic point, it is the data of 64 dimensions or 128 dimensions, when So, further divided with to characteristic point attribute, the characterization information of characteristic feature point can be the parameter of other dimensions. As an example, characterization information can include yardstick and rotation.

Characteristic point is obtained from the image information of the intersection of continuous multiple images information frame, due to the figure being based on As information is identical, therefore, should be identical from the characteristic point accessed by the intersection in each image information frame, Using acquired characteristic point as set of characteristic points.

Step 105, according to second in second information aggregate corresponding with the first information in first information set Information, in calculating the first object set in the first sub-information at least two first information respectively The second place information of each the first object；

Wherein, the second place information includes：Relative position information of first object relative to the smart machine；

After the characteristic point of the image information of intersection of continuous multiple images information frame is determined, believed according to image Cease frame depth information, calculate respectively the intersection of continuous multiple images information frame each characteristic point relative to intelligence set The positional information of standby image acquisition units.

Step 106, according to the second place information and the smart machine second place information difference in the environment Calculate in the first object set in the first sub-information at least two first information each first 3rd positional information of object；

Wherein, the 3rd positional information includes：Positional information of the characteristic point in global coordinate system；

The image relative to smart machine for calculating each characteristic point of the intersection of continuous multiple images information frame is adopted After collecting the positional information of unit, according to the position of the moment corresponding smart machine in global coordinate system of collection image information frame Information, calculates the positional information of each characteristic point in global coordinate system of the intersection of continuous multiple images information frame.

Step 107, to the institute in the first sub-information in described at least two first information for being calculated The 3rd positional information for stating the object of identical first in the first object set optimizes treatment, obtains the identical first pair 4th positional information of elephant, as the positional information of the object of the identical first.

Because smart machine understands existence position information calculation error in moving process, therefore, by true before this step Can there is larger error, the 3rd position of the characteristic point that this example need to be calculated abovementioned steps in the positional information of fixed characteristic point Information optimizes treatment, specifically, to each position information of calculated same characteristic features point, asks arithmetic average or weighted average Deng as the final position information of the same characteristic features point.

In this example, the judgement of same characteristic features point can be carried out by the RGB information of characteristic point or characterization information etc. It is determined that.For example when the corresponding RGB information of characteristic point is identical, determine that characteristic point is identical, or, the feature description letter of characteristic point When each single item in breath is matched, determine that characteristic point is identical.

Fig. 2 is the schematic flow sheet of the method for the information processing of the embodiment of the present invention two, as shown in Fig. 2 in the present invention one In individual preferred embodiment, the method for information processing is comprised the following steps：

Step 201, obtains first information set and the second information aggregate corresponding to the first information set；

Step 202, calculate obtain first information set in each first information when the corresponding smart machine in the environment First position information；

Step 203, obtains the first son respectively from least two first information in the first information set Information；

Step 204, first is obtained from the first sub-information at least two first information respectively Object set；

Step 205, according to second in second information aggregate corresponding with the first information in first information set Information, in calculating the first object set in the first sub-information at least two first information respectively The second place information of each the first object；

Step 206, according to the second place information and the smart machine second place information difference in the environment Calculate in the first object set in the first sub-information at least two first information each first 3rd positional information of object；

Specifically, the first object set in the first sub-information at least two first information is calculated 3rd positional information of each the first object in conjunction, including：

By first object set in the first sub-information in the first information in each described first information set In all first sets spatially position is divided at least two part；

In the first object set in the first sub-information at least two first information The second place information and the smart machine of each the first object first position information in the environment, described in parallel computation Of each the first object in the first object set in the first sub-information at least two first information Three positional informations.

For the set of characteristic points extracted from each image information frame, multiple areas are divided into by the locus of characteristic point Domain, is such as divided into four regions, eight regions, 16 regions.It is more uniform to ensure the ratio that set of characteristic points is divided, can press The coordinate value of all characteristic points in set of characteristic points, determines that the square that can cover all characteristic points in set of characteristic points is empty Between, square space is divided into four sub- squares of identical；Each can be concurrently calculated in units of every sub- square The positional information of the characteristic point in sub- square.

It should be noted that to ensure that each characteristic point in set of characteristic points is calculated with being all not missed, being divided Sub- square between can have the region of coincidence.

It should be noted that this example be set of characteristic points carried out by taking square as an example region division, or Other dividing modes, are such as divided by the quantity of characteristic point in set of characteristic points.In view of the establishment feature of environmental information, Region division preferably is carried out to set of characteristic points by square space.

Step 207, to the institute in the first sub-information in described at least two first information for being calculated The 3rd positional information for stating the object of identical first in the first object set optimizes treatment, obtains the identical first pair 4th positional information of elephant, as the positional information of the object of the identical first.

Fig. 3 is the schematic flow sheet of the method for the information processing of the embodiment of the present invention three, as shown in figure 3, in the present invention one In individual preferred embodiment, the method for information processing is comprised the following steps：

Step 301, obtains first information set and the second information aggregate corresponding to the first information set；

Step 302, calculate obtain first information set in each first information when the corresponding smart machine in the environment First position information；

Step 303, obtains the first son respectively from least two first information in the first information set Information；

Step 304, first is obtained from the first sub-information at least two first information respectively Object set；

Step 305, according to second in second information aggregate corresponding with the first information in first information set Information, in calculating the first object set in the first sub-information at least two first information respectively The second place information of each the first object；

Step 306, according to the second place information and the smart machine second place information difference in the environment Calculate in the first object set in the first sub-information at least two first information each first 3rd positional information of object；

Step 307, to the institute in the first sub-information in described at least two first information for being calculated The 3rd positional information for stating the object of identical first in the first object set optimizes treatment, obtains the identical first pair 4th positional information of elephant, as the positional information of the object of the identical first.

Specifically, optimizing treatment to the 3rd positional information includes：

It is the identical first in the first sub-information in described at least two first information for being calculated 3rd positional information of object sets up Gauss model；

Determine the Gaussian distribution feature of the 3rd positional information of the object of the identical first；

The Gaussian distribution feature of the 3rd positional information according to the object of the identical first screens out variance beyond setting threshold The 3rd positional information beyond the object of the identical first of value；

Calculate the average value of the 3rd positional information of the remaining object of the identical first.

Here, average value includes weighted average or arithmetic mean of instantaneous value.

Gauss model is set up by the world coordinates positional information to same characteristic features point, the overall situation of same characteristic features point is determined Co-ordinate position information Gaussian Profile state, and screen out the world coordinates positional information of characteristic point away from the equal line of Gaussian Profile. These can be regarded as the larger result of calculation of error away from the world coordinates positional information of the characteristic point of the equal line of Gaussian Profile, such as may be used Can there is mistake in computation etc..

Fig. 4 is the schematic flow sheet of the method for the information processing of the embodiment of the present invention four, as shown in figure 4, in the present invention one In individual preferred embodiment, the method for information processing is comprised the following steps：

Step 401, obtains first information set and the second information aggregate corresponding to the first information set；

Step 402, calculate obtain first information set in each first information when the corresponding smart machine in the environment First position information；

Specifically, it is determined that second place information, including：

Respectively to the smart machine move horizontally direction and vertically move direction enter row distance correction；

It is determined that obtaining the time information of all first information in first information set；

According to the first position information before smart machine distance correction, determine time information, move horizontally direction And vertically move the correction distance in direction, calculate the smart machine in obtaining first information set all first information when The first position information at quarter.

Specifically, for smart machine, the kinetic control system for determining smart machine displacement, example can be typically provided with Incremental rotary encoder, the real time measure intelligent robot such as can be respectively mounted in the left and right sidesing driving wheel both sides of intelligent robot The distance of left and right wheels walking in unit interval, and can show that the pose of robot is sat by calculating by the travel distance of two-wheeled Mark.And the angle value in intelligent robot pose is calculated, by the principle of Differential Driving intelligent robot, you can determine intelligence Can positional information of the robot in its local environment.

Step 403, obtains the first son respectively from least two first information in the first information set Information；

Step 404, first is obtained from the first sub-information at least two first information respectively Object set；

Step 405, according to second in second information aggregate corresponding with the first information in first information set Information, in calculating the first object set in the first sub-information at least two first information respectively The second place information of each the first object；

Step 406, according to the second place information and the smart machine second place information difference in the environment Calculate in the first object set in the first sub-information at least two first information each first 3rd positional information of object；

This example is to have carried out region division, or other dividing modes to set of characteristic points by taking square as an example, Such as divided by the quantity of characteristic point in set of characteristic points.In view of the establishment feature of environmental information, preferably by square Space carries out region division to set of characteristic points.

Step 407, to the institute in the first sub-information in described at least two first information for being calculated The 3rd positional information for stating the object of identical first in the first object set optimizes treatment, obtains the identical first pair 4th positional information of elephant, as the positional information of the object of the identical first.

Fig. 5 is the composition structural representation of the smart machine of the embodiment of the present invention, and in the embodiment of the present invention, smart machine can Think intelligent robot, the intelligent robot has image acquisition units；As a preferred exemplary, the figure of the embodiment of the present invention As collecting unit can be camera, used as a kind of example, image acquisition units can also be special IMAQ and analysis System, such as can be image sensor, RGB image sensor.The smart machine also has image-capable.Such as Fig. 5 institutes Show, the smart machine of the embodiment of the present invention includes：First acquisition unit 50, the first computing unit 51, second acquisition unit 52, Three acquiring units 53, the second computing unit 54, the 3rd computing unit 55 and optimization processing unit 56, wherein：

First acquisition unit 50, for obtaining first information set and the second information corresponding to the first information set Set；

First computing unit 51, for the corresponding intelligence to set during each first information in calculating acquisition first information set Standby first position information in the environment；

Second acquisition unit 52, for distinguishing from least two first information in the first information set Obtain the first sub-information；

3rd acquiring unit 53, for dividing from the first sub-information at least two first information The first object set is not obtained；

Second computing unit 54, for basis the second information collection corresponding with the first information in first information set The second information in conjunction, calculates the first couple in the first sub-information at least two first information respectively As the second place information of the object of each in set first；

3rd computing unit 55, according to the second place information and the smart machine second confidence in the environment It is every in the first object set in the first sub-information that breath calculates at least two first information respectively 3rd positional information of individual first object；

Optimization processing unit 56, for the first son in the described at least two first information to being calculated The 3rd positional information of the object of identical first optimizes treatment in first object set in information, obtains the phase 4th positional information of the first same object, as the positional information of the object of the identical first.

Second information aggregate includes：Corresponding to the set of the depth information of each image information frame；

The second place information includes：Relative position information of first object relative to the smart machine；

First object includes：The characteristic point extracted from described image information frame；

3rd positional information includes：Positional information of the characteristic point in global coordinate system.

Used as a kind of preferred embodiment, the composition of the 3rd computing unit 55 of the embodiment of the present invention is as shown in Figure 6；Fig. 6 is The composition structural representation of the 3rd computing unit in the smart machine of the embodiment of the present invention, as shown in fig. 6, the embodiment of the present invention 3rd computing unit 55 includes：Subelement 550 and parallel computation subelement 551 are divided, wherein：

Subelement 550 is divided, for by the first sub-information in the first information in each described first information set First object set in all first sets spatially position is divided at least two part；

Parallel computation subelement 551, for the first son letter at least two first information The second place information and the smart machine of each the first object in the first object set in breath in the environment One positional information, the first object set in the first sub-information at least two first information described in parallel computation 3rd positional information of each the first object in conjunction.

Used as a kind of preferred embodiment, the composition of the optimization processing unit 56 of the embodiment of the present invention is as shown in Figure 7；Fig. 7 is The composition structural representation of optimization processing unit 56 in the smart machine of the embodiment of the present invention, as shown in fig. 7, the embodiment of the present invention Optimization processing unit include：Subelement 560, determination subelement 561, screening subelement 562 and computation subunit 563 are set up, Wherein：

Subelement 560 is set up, for being the first son in described at least two first information for being calculated 3rd positional information of the object of identical first in information sets up Gauss model；

Determination subelement 561, the Gaussian distribution feature of the 3rd positional information for determining the object of the identical first；

Screening subelement 562, for the Gaussian distribution feature of the 3rd positional information according to the object of the identical first Screen out threeth positional information beyond the identical first object of the variance beyond given threshold；

Computation subunit 563, the average value of the 3rd positional information for calculating the remaining object of the identical first.

Because smart machine understands existence position information calculation error in moving process, therefore, by the 3rd computing unit Can there is larger error, the 3rd of the characteristic point that this example need to be calculated abovementioned steps the in the positional information of 55 characteristic points for calculating Positional information optimizes treatment, specifically, to each position information of calculated same characteristic features point, asks arithmetic average or weighting flat Equalization, as the final position information of the same characteristic features point.

Used as a kind of preferred embodiment, the composition of the first computing unit 51 of the embodiment of the present invention is as shown in Figure 8；Fig. 8 is The composition structural representation of the first computing unit 51 in the smart machine of the embodiment of the present invention, as shown in figure 8, the embodiment of the present invention The first computing unit 51 include：Correction subelement 510, determination subelement 511 and computation subunit 512, wherein：

Correction subelement 510, for moving horizontally direction and vertically moving direction and carry out to the smart machine respectively Distance correction；

Determination subelement 512, the time information for determining all first information in acquisition first information set；

Computation subunit 513, for the first position information according to the smart machine before correction, determines the moment Information, the correction distance for moving horizontally direction and vertically moving direction, calculate the smart machine and are obtaining first information set In all first information moment first position information.

It will be appreciated by those skilled in the art that each processing unit and its subelement in the smart machine of the embodiment of the present invention Function, can refer to the associated description of the method for foregoing information processing and understands, in the smart machine of the embodiment of the present invention everywhere Reason unit and its subelement, can be realized, it is also possible to pass through by realizing the analog circuit of the function described in the embodiment of the present invention Perform the operation of the software on smart machine of the function described in the embodiment of the present invention and realize.

Between technical scheme described in the embodiment of the present invention, in the case where not conflicting, can be in any combination.

In several embodiments provided by the present invention, it should be understood that disclosed method and smart machine, Ke Yitong Other modes are crossed to realize.Apparatus embodiments described above are only schematical, for example, the division of the unit, only Only a kind of division of logic function, can have other dividing mode, such as when actually realizing：Multiple units or component can be tied Close, or be desirably integrated into another system, or some features can be ignored, or do not perform.In addition, shown or discussed each group Into part coupling each other or direct-coupling or communication connection can be by some interfaces, equipment or unit it is indirect Coupling is communicated to connect, and can be electrical, machinery or other forms.

The above-mentioned unit that is illustrated as separating component can be or may not be it is physically separate, it is aobvious as unit The part for showing can be or may not be physical location, you can with positioned at a place, it is also possible to be distributed to multiple network lists In unit；Part or all of unit therein can be according to the actual needs selected to realize the purpose of this embodiment scheme.

In addition, each functional unit in various embodiments of the present invention can be fully integrated into a processing unit, also may be used Being each unit individually as a unit, it is also possible to which two or more units are integrated in a unit；It is above-mentioned Integrated unit can both be realized in the form of hardware, it would however also be possible to employ hardware adds the form of SFU software functional unit to realize.

One of ordinary skill in the art will appreciate that：Realizing all or part of step of above method embodiment can pass through Programmed instruction related hardware is completed, and foregoing program can be stored in a computer read/write memory medium, the program Upon execution, the step of including above method embodiment is performed；And foregoing storage medium includes：It is movable storage device, read-only Memory（ROM, Read-Only Memory）, random access memory（RAM, Random Access Memory）, magnetic disc or Person's CD etc. is various can be with the medium of store program codes.

Or, if the above-mentioned integrated unit of the embodiment of the present invention is using realization in the form of software function module and as independently Production marketing or when using, it is also possible to storage is in a computer read/write memory medium.Based on such understanding, this hair The part that the technical scheme of bright embodiment substantially contributes to prior art in other words can in the form of software product body Reveal and, the computer software product is stored in a storage medium, including some instructions are used to so that a computer sets It is standby（Can be personal computer, server or network equipment etc.）Perform the whole of each embodiment methods described of the invention Or part.And foregoing storage medium includes：Movable storage device, read-only storage（ROM, Read-Only Memory）, with Machine accesses memory（RAM, Random Access Memory）, magnetic disc or CD etc. are various can be with Jie of store program codes Matter.

The above, specific embodiment only of the invention, but protection scope of the present invention is not limited thereto, and it is any Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all contain Cover within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.

Claims

1. a kind of method of information processing, is applied in smart machine；Characterized in that, methods described includes：

Corresponding smart machine first position letter in the environment during each first information in calculating acquisition first information set Breath；

According to the second information in second information aggregate corresponding with the first information in first information set, calculate respectively Each first object in the first object set in the first sub-information at least two first information Second place information；

According to the second place information and the smart machine second place information in the environment are calculated respectively at least The 3rd of each the first object in the first object set in the first sub-information in more than two first information Confidence ceases；

To first object set in the first sub-information in described at least two first information for being calculated The 3rd positional information of the object of identical first optimizes treatment in conjunction, obtains the 4th position of the object of the identical first Information, as the positional information of the object of the identical first；

The first information set includes：The set of the image information frame of the smart machine collection；

2. method according to claim 1, it is characterised in that described to be set according to the second place information and the intelligence Standby second place information in the environment calculates the first sub-information at least two first information respectively In the first object set in each the first object the 3rd positional information, including：

By in first object set in the first sub-information in the first information in each described first information set Spatially position is divided at least two part to all first sets；

Each in the first object set in the first sub-information at least two first information The second place information and the smart machine of the first object first position information in the environment, described in parallel computation at least The 3rd of each the first object in the first object set in the first sub-information in more than two first information Confidence ceases.

3. method according to claim 1, it is characterised in that it is described to calculated it is described at least two described in The 3rd positional information of the object of identical first is carried out in first object set in the first sub-information in the first information Optimization processing, including：

It is the object of identical first in the first sub-information in described at least two first information for being calculated The 3rd positional information set up Gauss model；

The Gaussian distribution feature of the 3rd positional information according to the object of the identical first screens out variance beyond given threshold Beyond the 3rd positional information of the object of the identical first；

4. method according to claim 1, it is characterised in that each first information correspondence in the calculating first information set Smart machine first position information in the environment, including：

According to the first position information before smart machine distance correction, determine time information, move horizontally direction and vertical The correction distance of straight moving direction, calculating smart machine moment of all first information in first information set is obtained First position information.

5. a kind of smart machine；Characterized in that, the smart machine includes：First acquisition unit, the first computing unit, second Acquiring unit, the 3rd acquiring unit, the second computing unit, the 3rd computing unit and optimization processing unit, wherein：

First acquisition unit, for obtaining first information set and the second information aggregate corresponding to the first information set；

First computing unit, for calculate obtain first information set in each first information when the corresponding smart machine in ring First position information in border；

Second acquisition unit, for obtaining respectively from least two first information in the first information set One sub-information；

3rd acquiring unit, for being obtained respectively from the first sub-information at least two first information First object set；

Second computing unit, in basis second information aggregate corresponding with the first information in first information set Second information, calculates the first object set in the first sub-information at least two first information respectively In each the first object second place information；

3rd computing unit, according to the second place information and the smart machine second place information difference in the environment Calculate in the first object set in the first sub-information at least two first information each first 3rd positional information of object；

Optimization processing unit, in the first sub-information in the described at least two first information to being calculated First object set in the 3rd positional information of the object of identical first optimize treatment, obtain the identical 4th positional information of one object, as the positional information of the object of the identical first；

6. smart machine according to claim 5, it is characterised in that the 3rd computing unit includes：Divide subelement With parallel computation subelement, wherein：

Subelement is divided, for by described the in the first sub-information in the first information in each described first information set Spatially position is divided at least two part to all first sets in one object set；

Parallel computation subelement, for the first sub-information at least two first information in The second place information and the smart machine of each the first object in one object set first position letter in the environment Cease, it is every in the first object set in the first sub-information at least two first information described in parallel computation 3rd positional information of individual first object.

7. smart machine according to claim 5, it is characterised in that the optimization processing unit includes：Set up subelement, Determination subelement, screening subelement and computation subunit, wherein：

Subelement is set up, for in the first sub-information in described at least two first information for being calculated 3rd positional information of the object of identical first sets up Gauss model；

Determination subelement, the Gaussian distribution feature of the 3rd positional information for determining the object of the identical first；

Screening subelement, the Gaussian distribution feature for the 3rd positional information according to the object of the identical first screens out variance Beyond the 3rd positional information beyond the object of the identical first of given threshold；

Computation subunit, the average value of the 3rd positional information for calculating the remaining object of the identical first.

8. smart machine according to claim 5, it is characterised in that first computing unit includes：Correction subelement, Determination subelement and computation subunit, wherein：

Correction subelement, for respectively to the smart machine move horizontally direction and vertically move direction enter row distance rectify Just；

Determination subelement, the time information for determining all first information in acquisition first information set；

Computation subunit, for the first position information according to the smart machine before correction, determines time information, water Flat moving direction and the correction distance in direction is vertically moved, calculate the smart machine all the in first information set is obtained The first position information at the moment of one information.