CN110243360B - 机器人在运动区域的地图构建及定位方法 - Google Patents
机器人在运动区域的地图构建及定位方法 Download PDFInfo
- Publication number
- CN110243360B CN110243360B CN201810189296.4A CN201810189296A CN110243360B CN 110243360 B CN110243360 B CN 110243360B CN 201810189296 A CN201810189296 A CN 201810189296A CN 110243360 B CN110243360 B CN 110243360B
- Authority
- CN
- China
- Prior art keywords
- coordinate information
- reference mark
- robot
- information
- mark
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000033001 locomotion Effects 0.000 title claims abstract description 65
- 238000000034 method Methods 0.000 title claims abstract description 62
- 239000003550 marker Substances 0.000 claims description 28
- 238000013507 mapping Methods 0.000 claims description 19
- 230000000007 visual effect Effects 0.000 claims description 13
- 238000006243 chemical reaction Methods 0.000 claims description 7
- 238000012545 processing Methods 0.000 claims description 5
- 238000010276 construction Methods 0.000 abstract description 23
- 230000001360 synchronised effect Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 16
- 239000011159 matrix material Substances 0.000 description 13
- 230000009466 transformation Effects 0.000 description 10
- 238000013519 translation Methods 0.000 description 7
- 238000004364 calculation method Methods 0.000 description 6
- 238000004590 computer program Methods 0.000 description 6
- 238000003860 storage Methods 0.000 description 5
- 238000009826 distribution Methods 0.000 description 4
- 230000005021 gait Effects 0.000 description 3
- 238000004422 calculation algorithm Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
-
- 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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/10544—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum
- G06K7/10712—Fixed beam scanning
- G06K7/10722—Photodetector array or CCD scanning
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
- G06K7/1404—Methods for optical code recognition
- G06K7/1408—Methods for optical code recognition the method being specifically adapted for the type of code
- G06K7/1417—2D bar codes
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/55—Depth or shape recovery from multiple images
- G06T7/579—Depth or shape recovery from multiple images from motion
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
- G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0088—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30204—Marker
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30244—Camera pose
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
Abstract
Description
Claims (6)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201810189296.4A CN110243360B (zh) | 2018-03-08 | 2018-03-08 | 机器人在运动区域的地图构建及定位方法 |
US16/236,364 US11067997B2 (en) | 2018-03-08 | 2018-12-29 | Simultaneous localization and mapping methods of mobile robot in motion area |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201810189296.4A CN110243360B (zh) | 2018-03-08 | 2018-03-08 | 机器人在运动区域的地图构建及定位方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN110243360A CN110243360A (zh) | 2019-09-17 |
CN110243360B true CN110243360B (zh) | 2022-02-22 |
Family
ID=67843319
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201810189296.4A Active CN110243360B (zh) | 2018-03-08 | 2018-03-08 | 机器人在运动区域的地图构建及定位方法 |
Country Status (2)
Country | Link |
---|---|
US (1) | US11067997B2 (zh) |
CN (1) | CN110243360B (zh) |
Families Citing this family (33)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3299922B1 (en) * | 2015-05-22 | 2022-09-07 | FUJIFILM Corporation | Robot device and movement control method for robot device |
US20200349737A1 (en) * | 2019-05-03 | 2020-11-05 | Fanuc America Corporation | Multi-target calibration and augmentation |
US10614635B1 (en) * | 2019-07-25 | 2020-04-07 | Capital One Services, Llc | Augmented reality system with color-based fiducial marker |
CN110827361B (zh) * | 2019-11-01 | 2023-06-23 | 清华大学 | 基于全局标定架的相机组标定方法及装置 |
CN111028658A (zh) * | 2019-11-18 | 2020-04-17 | 杭州晶一智能科技有限公司 | 一种基于gps和在线地图的割草机器人电子地图构建方法 |
CN113110408B (zh) * | 2019-12-25 | 2023-09-29 | 北京极智嘉科技股份有限公司 | 机器人定位系统及方法、机器人、计算机可读存储介质 |
US11288522B2 (en) | 2019-12-31 | 2022-03-29 | Woven Planet North America, Inc. | Generating training data from overhead view images |
US11244500B2 (en) | 2019-12-31 | 2022-02-08 | Woven Planet North America, Inc. | Map feature extraction using overhead view images |
US11037328B1 (en) * | 2019-12-31 | 2021-06-15 | Lyft, Inc. | Overhead view image generation |
US11511885B2 (en) * | 2020-03-13 | 2022-11-29 | Wing Aviation Llc | Adhoc geo-fiducial mats for landing UAVs |
CN113435227B (zh) * | 2020-03-23 | 2023-04-07 | 阿里巴巴集团控股有限公司 | 地图生成及车辆定位方法、系统、设备及存储介质 |
CN111461023B (zh) * | 2020-04-02 | 2023-04-18 | 山东大学 | 基于三维激光雷达的四足机器人自主跟随领航员的方法 |
US11560192B2 (en) * | 2020-04-24 | 2023-01-24 | Ubtech Robotics Corp Ltd | Stair climbing gait planning method and apparatus and robot using the same |
CN111784775B (zh) * | 2020-07-13 | 2021-05-04 | 中国人民解放军军事科学院国防科技创新研究院 | 一种标识辅助的视觉惯性增强现实注册方法 |
CN111739088B (zh) * | 2020-07-21 | 2020-12-04 | 上海思岚科技有限公司 | 基于视觉标签的定位方法及设备 |
CN112022025A (zh) * | 2020-08-14 | 2020-12-04 | 深圳市大象机器人科技有限公司 | 一种基于视觉定位的机器人自动回冲方法及系统 |
CN112052847B (zh) * | 2020-08-17 | 2024-03-26 | 腾讯科技(深圳)有限公司 | 图像处理方法、装置、电子设备和计算机可读存储介质 |
US11302036B2 (en) | 2020-08-19 | 2022-04-12 | Capital One Services, Llc | Color conversion between color spaces using reduced dimension embeddings |
CN112146662B (zh) * | 2020-09-29 | 2022-06-10 | 炬星科技(深圳)有限公司 | 一种引导建图方法、设备及计算机可读存储介质 |
US11417015B2 (en) | 2020-10-20 | 2022-08-16 | Ford Global Technologies, Llc | Decentralized location determination systems and methods |
CN112091984B (zh) * | 2020-11-17 | 2021-04-20 | 深圳市优必选科技股份有限公司 | 双足机器人的步态纠偏方法、装置和计算机设备 |
CN112434120A (zh) * | 2020-11-18 | 2021-03-02 | 北京京东乾石科技有限公司 | 一种位置标记方法、设备和计算机可读存储介质 |
CN112364677A (zh) * | 2020-11-23 | 2021-02-12 | 盛视科技股份有限公司 | 基于二维码的机器人视觉定位方法 |
CN112685527A (zh) * | 2020-12-31 | 2021-04-20 | 北京迈格威科技有限公司 | 建立地图的方法、装置和电子系统 |
CN112964276B (zh) * | 2021-02-09 | 2022-08-05 | 中国科学院深圳先进技术研究院 | 一种基于激光和视觉融合的在线标定方法 |
CN112985374B (zh) * | 2021-02-09 | 2023-04-21 | 北京天玛智控科技股份有限公司 | 定位方法、定位组件和定位系统 |
CN113160075A (zh) * | 2021-03-30 | 2021-07-23 | 武汉数字化设计与制造创新中心有限公司 | Apriltag视觉定位的加工方法、系统、爬壁机器人及存储介质 |
CN113091736B (zh) * | 2021-04-02 | 2023-04-07 | 京东科技信息技术有限公司 | 机器人定位方法、装置、机器人及存储介质 |
CN113172635A (zh) * | 2021-06-09 | 2021-07-27 | 乐聚(深圳)机器人技术有限公司 | 双足机器人行走控制方法、装置、设备及存储介质 |
US20230072471A1 (en) * | 2021-08-04 | 2023-03-09 | Tata Consultancy Services Limited | Method and system of dynamic localization of a telepresence robot based on live markers |
CN113781550A (zh) * | 2021-08-10 | 2021-12-10 | 国网河北省电力有限公司保定供电分公司 | 一种四足机器人定位方法与系统 |
CN114019953B (zh) * | 2021-10-08 | 2024-03-19 | 中移(杭州)信息技术有限公司 | 地图构建方法、装置、设备及存储介质 |
WO2024016101A1 (en) | 2022-07-18 | 2024-01-25 | Intelligent Cleaning Equipment Holdings Co., Ltd. | Systems and methods for robotic navigation, teaching and mapping |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105277190A (zh) * | 2014-06-30 | 2016-01-27 | 现代自动车株式会社 | 用于车辆自定位的装置和方法 |
CN105973236A (zh) * | 2016-04-26 | 2016-09-28 | 乐视控股(北京)有限公司 | 室内定位或导航方法、装置以及地图数据库生成方法 |
CN106003052A (zh) * | 2016-07-29 | 2016-10-12 | 哈尔滨工大服务机器人有限公司 | 一种机器人视觉导航地图的创建方法 |
CN106372683A (zh) * | 2016-08-24 | 2017-02-01 | 潘重光 | 地图生成系统及方法 |
CN106989746A (zh) * | 2017-03-27 | 2017-07-28 | 远形时空科技(北京)有限公司 | 导航方法及导航装置 |
JP2017142829A (ja) * | 2017-03-28 | 2017-08-17 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドSz Dji Technology Co.,Ltd | 深度マップを生成するための方法、装置およびプログラム |
CN107167144A (zh) * | 2017-07-07 | 2017-09-15 | 武汉科技大学 | 一种基于视觉的移动机器人室内环境识别定位方法 |
CN107180215A (zh) * | 2017-05-31 | 2017-09-19 | 同济大学 | 基于库位和二维码的停车场自动建图与高精度定位方法 |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4300199B2 (ja) * | 2005-06-13 | 2009-07-22 | 株式会社東芝 | 移動ロボット、移動ロボットの位置姿勢算出方法、移動ロボットの自律走行システム |
US10380469B2 (en) * | 2012-07-18 | 2019-08-13 | The Boeing Company | Method for tracking a device in a landmark-based reference system |
CN108489486B (zh) * | 2015-06-01 | 2021-07-02 | 北京极智嘉科技股份有限公司 | 二维码以及用于机器人的视觉-惯性组合导航系统及方法 |
US9758305B2 (en) * | 2015-07-31 | 2017-09-12 | Locus Robotics Corp. | Robotic navigation utilizing semantic mapping |
-
2018
- 2018-03-08 CN CN201810189296.4A patent/CN110243360B/zh active Active
- 2018-12-29 US US16/236,364 patent/US11067997B2/en active Active
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105277190A (zh) * | 2014-06-30 | 2016-01-27 | 现代自动车株式会社 | 用于车辆自定位的装置和方法 |
CN105973236A (zh) * | 2016-04-26 | 2016-09-28 | 乐视控股(北京)有限公司 | 室内定位或导航方法、装置以及地图数据库生成方法 |
CN106003052A (zh) * | 2016-07-29 | 2016-10-12 | 哈尔滨工大服务机器人有限公司 | 一种机器人视觉导航地图的创建方法 |
CN106372683A (zh) * | 2016-08-24 | 2017-02-01 | 潘重光 | 地图生成系统及方法 |
CN106989746A (zh) * | 2017-03-27 | 2017-07-28 | 远形时空科技(北京)有限公司 | 导航方法及导航装置 |
JP2017142829A (ja) * | 2017-03-28 | 2017-08-17 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドSz Dji Technology Co.,Ltd | 深度マップを生成するための方法、装置およびプログラム |
CN107180215A (zh) * | 2017-05-31 | 2017-09-19 | 同济大学 | 基于库位和二维码的停车场自动建图与高精度定位方法 |
CN107167144A (zh) * | 2017-07-07 | 2017-09-15 | 武汉科技大学 | 一种基于视觉的移动机器人室内环境识别定位方法 |
Non-Patent Citations (2)
Title |
---|
Navigation system based on machine vision of multiple reference markers;Su Xiaopeng,etc;《LIDAR IMAGING DETECTION AND TARGET RECOGNITION》;20171231;第10605卷;第1-10页 * |
移动机器人同步定位与地图构建关键技术的研究;曲丽萍;《中国博士学位论文全文数据库信息科技辑》;20140430;I140-31 * |
Also Published As
Publication number | Publication date |
---|---|
US11067997B2 (en) | 2021-07-20 |
US20190278288A1 (en) | 2019-09-12 |
CN110243360A (zh) | 2019-09-17 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN110243360B (zh) | 机器人在运动区域的地图构建及定位方法 | |
Wangsiripitak et al. | Avoiding moving outliers in visual SLAM by tracking moving objects | |
Aider et al. | A model-based method for indoor mobile robot localization using monocular vision and straight-line correspondences | |
Talluri et al. | Position estimation techniques for an autonomous mobile robot–a review | |
CN111964680B (zh) | 一种巡检机器人的实时定位方法 | |
CN110260866A (zh) | 一种基于视觉传感器的机器人定位与避障方法 | |
Iocchi et al. | Self-localization in the RoboCup environment | |
CN113485350A (zh) | 一种机器人移动控制方法、装置、设备及存储介质 | |
CN110728684B (zh) | 地图构建方法、装置、存储介质及电子设备 | |
EP3088983B1 (en) | Moving object controller and program | |
Zhou et al. | Information-efficient 3-D visual SLAM for unstructured domains | |
Pauls et al. | Automatic mapping of tailored landmark representations for automated driving and map learning | |
Davis et al. | Reflective fiducials for localization with 3D light detection and ranging scanners | |
Cupec et al. | Global localization based on 3d planar surface segments | |
CN115661252A (zh) | 一种实时位姿估计方法、装置、电子设备以及存储介质 | |
Aggarwal | Machine vision based SelfPosition estimation of mobile robots | |
Chang et al. | Robust accurate LiDAR-GNSS/IMU self-calibration based on iterative refinement | |
Li et al. | A single-shot pose estimation approach for a 2D laser rangefinder | |
Feng | Camera Marker Networks for Pose Estimation and Scene Understanding in Construction Automation and Robotics. | |
Kawanishi et al. | Three-dimensional environment model construction from an omnidirectional image sequence | |
Comport et al. | Efficient model-based tracking for robot vision | |
Hu et al. | Accurate fiducial mapping for pose estimation using manifold optimization | |
Axmann et al. | Maximum Consensus Localization Using an Objective Function Based on Helmert's Point Error | |
Zhang et al. | Robot localization under perceptual aliasing conditions based on laser reflectivity using particle filter | |
CN110703773B (zh) | 一种使用圆和编码光源作为标识物进行agv定位的方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
CP01 | Change in the name or title of a patent holder |
Address after: 22nd floor, building C1, Nanshan wisdom Park, 1001 Xueyuan Avenue, Nanshan District, Shenzhen, Guangdong 518000 Patentee after: Shenzhen Youbixuan Technology Co.,Ltd. Address before: 22nd floor, building C1, Nanshan wisdom Park, 1001 Xueyuan Avenue, Nanshan District, Shenzhen, Guangdong 518000 Patentee before: Shenzhen Youbixuan Technology Co.,Ltd. |
|
CP01 | Change in the name or title of a patent holder | ||
TR01 | Transfer of patent right |
Effective date of registration: 20231213 Address after: Room 601, 6th Floor, Building 13, No. 3 Jinghai Fifth Road, Beijing Economic and Technological Development Zone (Tongzhou), Tongzhou District, Beijing, 100176 Patentee after: Beijing Youbixuan Intelligent Robot Co.,Ltd. Address before: 22nd floor, building C1, Nanshan wisdom Park, 1001 Xueyuan Avenue, Nanshan District, Shenzhen, Guangdong 518000 Patentee before: Shenzhen Youbixuan Technology Co.,Ltd. |
|
TR01 | Transfer of patent right |