CN108680156A - 一种多传感器数据融合的机器人定位方法 - Google Patents
一种多传感器数据融合的机器人定位方法 Download PDFInfo
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- CN108680156A CN108680156A CN201810159984.6A CN201810159984A CN108680156A CN 108680156 A CN108680156 A CN 108680156A CN 201810159984 A CN201810159984 A CN 201810159984A CN 108680156 A CN108680156 A CN 108680156A
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000004927 fusion Effects 0.000 title claims abstract description 12
- 230000007613 environmental effect Effects 0.000 claims abstract description 23
- 238000013507 mapping Methods 0.000 claims description 17
- 238000012545 processing Methods 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 4
- 238000013519 translation Methods 0.000 claims description 3
- 230000004807 localization Effects 0.000 claims 5
- 241000208340 Araliaceae Species 0.000 claims 1
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- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Manipulator (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Length Measuring Devices By Optical Means (AREA)
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Cited By (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109541612A (zh) * | 2018-11-09 | 2019-03-29 | 同济大学 | 基于单线激光雷达识别柱状物的机器人室内自定位系统 |
CN109781120A (zh) * | 2019-01-25 | 2019-05-21 | 长安大学 | 一种基于同步定位构图的车辆组合定位方法 |
CN109807911A (zh) * | 2019-03-14 | 2019-05-28 | 湖南超能机器人技术有限公司 | 基于gnss、uwb、imu、激光雷达、码盘的室外巡逻机器人多环境联合定位方法 |
CN109975817A (zh) * | 2019-04-12 | 2019-07-05 | 南京工程学院 | 一种变电站巡检机器人定位导航方法及系统 |
CN110910498A (zh) * | 2019-11-21 | 2020-03-24 | 大连理工大学 | 一种利用激光雷达和双目相机构建栅格地图的方法 |
CN110977999A (zh) * | 2019-11-21 | 2020-04-10 | 广州赛特智能科技有限公司 | 核电站核仪表源试验智能机器人 |
CN111208526A (zh) * | 2020-01-17 | 2020-05-29 | 西北工业大学 | 基于激光雷达与定位向量匹配的多无人机协同定位方法 |
CN112291701A (zh) * | 2019-07-25 | 2021-01-29 | 科沃斯商用机器人有限公司 | 定位验证方法、装置、机器人、外部设备和存储介质 |
CN112631314A (zh) * | 2021-03-15 | 2021-04-09 | 季华实验室 | 基于多线激光雷达与事件相机slam的机器人控制方法、系统 |
CN112873280A (zh) * | 2021-01-11 | 2021-06-01 | 上海思岚科技有限公司 | 一种用于机器人的传感器的标定方法及设备 |
CN113167888A (zh) * | 2018-11-30 | 2021-07-23 | 高通股份有限公司 | 相机帧和雷达帧的早期融合 |
CN115307646A (zh) * | 2022-10-08 | 2022-11-08 | 浙江光珀智能科技有限公司 | 一种多传感器融合的机器人定位方法、系统及装置 |
CN115774280A (zh) * | 2022-11-22 | 2023-03-10 | 哈尔滨师范大学 | 一种多源融合定位导航方法、电子设备及存储介质 |
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CN107505644A (zh) * | 2017-07-28 | 2017-12-22 | 武汉理工大学 | 基于车载多传感器融合的三维高精度地图生成系统及方法 |
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2018
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Cited By (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109541612A (zh) * | 2018-11-09 | 2019-03-29 | 同济大学 | 基于单线激光雷达识别柱状物的机器人室内自定位系统 |
CN113167888A (zh) * | 2018-11-30 | 2021-07-23 | 高通股份有限公司 | 相机帧和雷达帧的早期融合 |
CN109781120A (zh) * | 2019-01-25 | 2019-05-21 | 长安大学 | 一种基于同步定位构图的车辆组合定位方法 |
CN109807911A (zh) * | 2019-03-14 | 2019-05-28 | 湖南超能机器人技术有限公司 | 基于gnss、uwb、imu、激光雷达、码盘的室外巡逻机器人多环境联合定位方法 |
CN109807911B (zh) * | 2019-03-14 | 2021-10-22 | 湖南超能机器人技术有限公司 | 基于gnss、uwb、imu、激光雷达、码盘的室外巡逻机器人多环境联合定位方法 |
CN109975817A (zh) * | 2019-04-12 | 2019-07-05 | 南京工程学院 | 一种变电站巡检机器人定位导航方法及系统 |
CN112291701A (zh) * | 2019-07-25 | 2021-01-29 | 科沃斯商用机器人有限公司 | 定位验证方法、装置、机器人、外部设备和存储介质 |
CN110910498A (zh) * | 2019-11-21 | 2020-03-24 | 大连理工大学 | 一种利用激光雷达和双目相机构建栅格地图的方法 |
CN110910498B (zh) * | 2019-11-21 | 2021-07-02 | 大连理工大学 | 一种利用激光雷达和双目相机构建栅格地图的方法 |
CN110977999A (zh) * | 2019-11-21 | 2020-04-10 | 广州赛特智能科技有限公司 | 核电站核仪表源试验智能机器人 |
CN111208526A (zh) * | 2020-01-17 | 2020-05-29 | 西北工业大学 | 基于激光雷达与定位向量匹配的多无人机协同定位方法 |
CN111208526B (zh) * | 2020-01-17 | 2022-07-08 | 西北工业大学 | 基于激光雷达与定位向量匹配的多无人机协同定位方法 |
CN112873280A (zh) * | 2021-01-11 | 2021-06-01 | 上海思岚科技有限公司 | 一种用于机器人的传感器的标定方法及设备 |
CN112631314A (zh) * | 2021-03-15 | 2021-04-09 | 季华实验室 | 基于多线激光雷达与事件相机slam的机器人控制方法、系统 |
CN112631314B (zh) * | 2021-03-15 | 2021-06-04 | 季华实验室 | 基于多线激光雷达与事件相机slam的机器人控制方法、系统 |
CN115307646A (zh) * | 2022-10-08 | 2022-11-08 | 浙江光珀智能科技有限公司 | 一种多传感器融合的机器人定位方法、系统及装置 |
CN115774280A (zh) * | 2022-11-22 | 2023-03-10 | 哈尔滨师范大学 | 一种多源融合定位导航方法、电子设备及存储介质 |
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Effective date of registration: 20210329 Address after: 266300 No. 6 Fenhe Road, Jiaozhou economic and Technological Development Zone, Qingdao, Shandong Applicant after: QINGDAO KRUND ROBOT Co.,Ltd. Address before: Room 1703, Floor 17, Building 4, 11 Changchunqiao Road, Haidian District, Beijing Applicant before: BEIJING KRUND ARTIFICIAL INTELLIGENT TECHNOLOGY Co.,Ltd. |
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Effective date of registration: 20220526 Address after: No.6 Fenhe Road, Jiaozhou economic and Technological Development Zone, Qingdao, Shandong Province 266000 Patentee after: Qingdao Kelu Intelligent Technology Co.,Ltd. Address before: 266300 No. 6 Fenhe Road, Jiaozhou economic and Technological Development Zone, Qingdao, Shandong Patentee before: QINGDAO KRUND ROBOT Co.,Ltd. |
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Effective date of registration: 20230918 Address after: No.6 Fenhe Road, Jiaozhou economic and Technological Development Zone, Qingdao, Shandong Province 266000 Patentee after: Qingdao Luteng Intelligent Equipment Technology Co.,Ltd. Address before: No.6 Fenhe Road, Jiaozhou economic and Technological Development Zone, Qingdao, Shandong Province 266000 Patentee before: Qingdao Kelu Intelligent Technology Co.,Ltd. |
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Denomination of invention: A Robot Localization Method Based on Multi Sensor Data Fusion Granted publication date: 20220107 Pledgee: China Pacific Property Insurance Co.,Ltd. Qingdao Branch Pledgor: Qingdao Luteng Intelligent Equipment Technology Co.,Ltd. Registration number: Y2024370010137 |