CN107462892B - 基于多超声传感器的移动机器人同步定位与地图构建方法 - Google Patents
基于多超声传感器的移动机器人同步定位与地图构建方法 Download PDFInfo
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- CN107462892B CN107462892B CN201710630892.7A CN201710630892A CN107462892B CN 107462892 B CN107462892 B CN 107462892B CN 201710630892 A CN201710630892 A CN 201710630892A CN 107462892 B CN107462892 B CN 107462892B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/46—Indirect determination of position data
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/25—Fusion techniques
- G06F18/251—Fusion techniques of input or preprocessed data
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- Data Mining & Analysis (AREA)
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- Computer Vision & Pattern Recognition (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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CN201710630892.7A CN107462892B (zh) | 2017-07-28 | 2017-07-28 | 基于多超声传感器的移动机器人同步定位与地图构建方法 |
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CN107462892A CN107462892A (zh) | 2017-12-12 |
CN107462892B true CN107462892B (zh) | 2021-11-30 |
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Families Citing this family (22)
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US10395117B1 (en) | 2016-08-29 | 2019-08-27 | Trifo, Inc. | Visual-inertial positional awareness for autonomous and non-autonomous tracking |
US10453213B2 (en) | 2016-08-29 | 2019-10-22 | Trifo, Inc. | Mapping optimization in autonomous and non-autonomous platforms |
US10162362B2 (en) | 2016-08-29 | 2018-12-25 | PerceptIn, Inc. | Fault tolerance to provide robust tracking for autonomous positional awareness |
US10390003B1 (en) | 2016-08-29 | 2019-08-20 | Perceptln Shenzhen Limited | Visual-inertial positional awareness for autonomous and non-autonomous device |
US11314262B2 (en) | 2016-08-29 | 2022-04-26 | Trifo, Inc. | Autonomous platform guidance systems with task planning and obstacle avoidance |
US10444761B2 (en) | 2017-06-14 | 2019-10-15 | Trifo, Inc. | Monocular modes for autonomous platform guidance systems with auxiliary sensors |
US10794710B1 (en) | 2017-09-08 | 2020-10-06 | Perceptin Shenzhen Limited | High-precision multi-layer visual and semantic map by autonomous units |
US10437252B1 (en) | 2017-09-08 | 2019-10-08 | Perceptln Shenzhen Limited | High-precision multi-layer visual and semantic map for autonomous driving |
CN109959935B (zh) * | 2017-12-14 | 2020-10-23 | 北京欣奕华科技有限公司 | 一种地图建立方法、地图建立装置及机器人 |
CN108235256B (zh) * | 2017-12-29 | 2021-09-14 | 幻视信息科技(深圳)有限公司 | 一种基于slam的复合定位方法、装置及存储介质 |
CN108508885B (zh) * | 2018-02-09 | 2021-03-23 | 意诺科技有限公司 | 一种导航地图构建方法及装置 |
CN112204486B (zh) * | 2018-04-03 | 2024-08-09 | 尚科宁家运营有限公司 | 机器人导航的飞行时间传感器布置及用其定位的方法 |
CN108802741B (zh) * | 2018-06-22 | 2022-05-17 | 西安电子科技大学 | 基于DSmT理论的移动机器人声纳数据融合方法 |
CN109116867B (zh) * | 2018-09-28 | 2020-04-14 | 拓攻(南京)机器人有限公司 | 一种无人机飞行避障方法、装置、电子设备及存储介质 |
CN109556598B (zh) * | 2018-11-23 | 2021-01-19 | 西安交通大学 | 一种基于超声波传感器阵列的自主建图与导航定位方法 |
US11774983B1 (en) | 2019-01-02 | 2023-10-03 | Trifo, Inc. | Autonomous platform guidance systems with unknown environment mapping |
CN110189366B (zh) * | 2019-04-17 | 2021-07-06 | 北京迈格威科技有限公司 | 一种激光粗配准方法、装置、移动终端及存储介质 |
CN112214009B (zh) * | 2019-06-25 | 2022-07-26 | 上海商汤临港智能科技有限公司 | 传感器数据处理方法、装置、电子设备及系统 |
CN110703196B (zh) * | 2019-10-16 | 2021-07-13 | 沈阳建筑大学 | 基于超声波传感器三位置测量的环境轮廓重构方法 |
CN111061287B (zh) * | 2019-12-31 | 2022-05-27 | 芜湖哈特机器人产业技术研究院有限公司 | 基于粒子自收敛的移动机器人重定位方法 |
CN112612037B (zh) * | 2020-12-01 | 2023-10-24 | 珠海一微半导体股份有限公司 | 一种融合定位方法及移动机器人 |
CN113670296B (zh) * | 2021-08-18 | 2023-11-24 | 北京经纬恒润科技股份有限公司 | 基于超声波的环境地图生成方法及装置 |
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CN105509755A (zh) * | 2015-11-27 | 2016-04-20 | 重庆邮电大学 | 一种基于高斯分布的移动机器人同步定位与地图构建方法 |
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2017
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CN106681330A (zh) * | 2017-01-25 | 2017-05-17 | 北京航空航天大学 | 基于多传感器数据融合的机器人导航方法及装置 |
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