CN110874100A - 用于使用视觉稀疏地图进行自主导航的系统和方法 - Google Patents
用于使用视觉稀疏地图进行自主导航的系统和方法 Download PDFInfo
- Publication number
- CN110874100A CN110874100A CN201910735484.7A CN201910735484A CN110874100A CN 110874100 A CN110874100 A CN 110874100A CN 201910735484 A CN201910735484 A CN 201910735484A CN 110874100 A CN110874100 A CN 110874100A
- Authority
- CN
- China
- Prior art keywords
- map
- visual
- robotic device
- rgb
- image
- 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.)
- Pending
Links
- 230000000007 visual effect Effects 0.000 title claims abstract description 115
- 238000000034 method Methods 0.000 title claims abstract description 48
- 238000013519 translation Methods 0.000 claims abstract description 22
- 230000033001 locomotion Effects 0.000 claims description 11
- 238000004364 calculation method Methods 0.000 claims description 6
- 239000007983 Tris buffer Substances 0.000 claims description 3
- 238000013507 mapping Methods 0.000 description 32
- 230000004807 localization Effects 0.000 description 20
- 230000008569 process Effects 0.000 description 16
- 230000015654 memory Effects 0.000 description 14
- 230000007613 environmental effect Effects 0.000 description 6
- 230000004044 response Effects 0.000 description 5
- 125000000174 L-prolyl group Chemical group [H]N1C([H])([H])C([H])([H])C([H])([H])[C@@]1([H])C(*)=O 0.000 description 4
- 238000004891 communication Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000004590 computer program Methods 0.000 description 3
- 238000013480 data collection Methods 0.000 description 3
- 238000005457 optimization Methods 0.000 description 3
- 230000003190 augmentative effect Effects 0.000 description 2
- 238000013500 data storage Methods 0.000 description 2
- 239000000284 extract Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 238000001994 activation Methods 0.000 description 1
- WYTGDNHDOZPMIW-RCBQFDQVSA-N alstonine Natural products C1=CC2=C3C=CC=CC3=NC2=C2N1C[C@H]1[C@H](C)OC=C(C(=O)OC)[C@H]1C2 WYTGDNHDOZPMIW-RCBQFDQVSA-N 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- QBWCMBCROVPCKQ-UHFFFAOYSA-N chlorous acid Chemical compound OCl=O QBWCMBCROVPCKQ-UHFFFAOYSA-N 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000003909 pattern recognition Methods 0.000 description 1
- 238000012805 post-processing Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 230000009466 transformation Effects 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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0248—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 in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0251—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 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- 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
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
-
- 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
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3807—Creation or updating of map data characterised by the type of data
- G01C21/3811—Point data, e.g. Point of Interest [POI]
-
- 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
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3833—Creation or updating of map data characterised by the source of data
- G01C21/3837—Data obtained from a single source
-
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
- G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
-
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B15/00—Systems controlled by a computer
- G05B15/02—Systems controlled by a computer electric
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Electromagnetism (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Computer Networks & Wireless Communication (AREA)
- Multimedia (AREA)
- General Engineering & Computer Science (AREA)
- Optics & Photonics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
Claims (13)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US16/102,632 | 2018-08-13 | ||
US16/102,632 US10953545B2 (en) | 2018-08-13 | 2018-08-13 | System and method for autonomous navigation using visual sparse map |
Publications (1)
Publication Number | Publication Date |
---|---|
CN110874100A true CN110874100A (zh) | 2020-03-10 |
Family
ID=69405046
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201910735484.7A Pending CN110874100A (zh) | 2018-08-13 | 2019-08-09 | 用于使用视觉稀疏地图进行自主导航的系统和方法 |
Country Status (2)
Country | Link |
---|---|
US (1) | US10953545B2 (zh) |
CN (1) | CN110874100A (zh) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111624636A (zh) * | 2020-05-25 | 2020-09-04 | 腾讯科技(深圳)有限公司 | 数据处理方法、装置、电子设备及计算机可读介质 |
CN112445728A (zh) * | 2020-11-30 | 2021-03-05 | 中科院软件研究所南京软件技术研究院 | 一种支持多种硬件接口的机器人开发板ros通讯系统 |
CN113465624A (zh) * | 2020-07-13 | 2021-10-01 | 北京京东乾石科技有限公司 | 用于自动驾驶车辆识别路口的系统和方法 |
CN113587916A (zh) * | 2021-07-27 | 2021-11-02 | 北京信息科技大学 | 实时稀疏视觉里程计、导航方法以及系统 |
TWI756844B (zh) * | 2020-09-25 | 2022-03-01 | 財團法人工業技術研究院 | 自走車導航裝置及其方法 |
Families Citing this family (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102018219602A1 (de) * | 2018-11-15 | 2020-05-20 | Robert Bosch Gmbh | Verfahren zum Erkennen von Kartenfehlern |
US20200182623A1 (en) * | 2018-12-10 | 2020-06-11 | Zebra Technologies Corporation | Method, system and apparatus for dynamic target feature mapping |
CN111583387A (zh) * | 2020-04-21 | 2020-08-25 | 北京鼎路科技有限公司 | 一种无人驾驶室外场景三维重建的方法和系统 |
CN111583316B (zh) * | 2020-04-28 | 2022-08-23 | 清华大学 | 一种视觉自主定位系统实现方法 |
CN112150550B (zh) * | 2020-09-23 | 2021-07-27 | 华人运通(上海)自动驾驶科技有限公司 | 一种融合定位方法及装置 |
CN112378409B (zh) * | 2020-12-01 | 2022-08-12 | 杭州宇芯机器人科技有限公司 | 动态环境下基于几何与运动约束的机器人rgb-d slam方法 |
US20220179424A1 (en) * | 2020-12-09 | 2022-06-09 | Regents Of The University Of Minnesota | Systems and methods for autonomous navigation on sidewalks in various conditions |
CN113103232B (zh) * | 2021-04-12 | 2022-05-20 | 电子科技大学 | 一种基于特征分布匹配的智能设备自适应运动控制方法 |
CN113110513A (zh) * | 2021-05-19 | 2021-07-13 | 哈尔滨理工大学 | 一种基于ros的居家整理移动机器人 |
CN113689485B (zh) * | 2021-08-25 | 2022-06-07 | 北京三快在线科技有限公司 | 无人机深度信息的确定方法、装置、无人机及存储介质 |
CN113537171B (zh) * | 2021-09-16 | 2021-12-21 | 北京易航远智科技有限公司 | 一种slam地图的划分方法 |
WO2023204740A1 (en) * | 2022-04-19 | 2023-10-26 | Telefonaktiebolaget Lm Ericsson (Publ) | Selective localization and mapping of a partially known environment |
CN115273068B (zh) * | 2022-08-02 | 2023-05-12 | 湖南大学无锡智能控制研究院 | 一种激光点云动态障碍物剔除方法、装置及电子设备 |
CN115375870B (zh) * | 2022-10-25 | 2023-02-10 | 杭州华橙软件技术有限公司 | 回环检测优化方法、电子设备及计算机可读存储装置 |
CN115388880B (zh) * | 2022-10-27 | 2023-02-03 | 联友智连科技有限公司 | 一种低成本记忆泊车建图与定位方法、装置及电子设备 |
Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20040168148A1 (en) * | 2002-12-17 | 2004-08-26 | Goncalves Luis Filipe Domingues | Systems and methods for landmark generation for visual simultaneous localization and mapping |
US20140333741A1 (en) * | 2013-05-08 | 2014-11-13 | Regents Of The University Of Minnesota | Constrained key frame localization and mapping for vision-aided inertial navigation |
CN104732518A (zh) * | 2015-01-19 | 2015-06-24 | 北京工业大学 | 一种基于智能机器人地面特征的ptam改进方法 |
CN105953796A (zh) * | 2016-05-23 | 2016-09-21 | 北京暴风魔镜科技有限公司 | 智能手机单目和imu融合的稳定运动跟踪方法和装置 |
CN106599108A (zh) * | 2016-11-30 | 2017-04-26 | 浙江大学 | 一种三维环境中多模态环境地图构建方法 |
CN106885574A (zh) * | 2017-02-15 | 2017-06-23 | 北京大学深圳研究生院 | 一种基于重跟踪策略的单目视觉机器人同步定位与地图构建方法 |
CN106940186A (zh) * | 2017-02-16 | 2017-07-11 | 华中科技大学 | 一种机器人自主定位与导航方法及系统 |
CN107438754A (zh) * | 2015-02-10 | 2017-12-05 | 御眼视觉技术有限公司 | 用于自主车辆导航的稀疏地图 |
CN107677279A (zh) * | 2017-09-26 | 2018-02-09 | 上海思岚科技有限公司 | 一种定位建图的方法及系统 |
CN108303099A (zh) * | 2018-06-14 | 2018-07-20 | 江苏中科院智能科学技术应用研究院 | 基于三维视觉slam的无人机室内自主导航方法 |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10203209B2 (en) * | 2016-05-25 | 2019-02-12 | Regents Of The University Of Minnesota | Resource-aware large-scale cooperative 3D mapping using multiple mobile devices |
US10553026B2 (en) * | 2017-07-20 | 2020-02-04 | Robert Bosch Gmbh | Dense visual SLAM with probabilistic surfel map |
-
2018
- 2018-08-13 US US16/102,632 patent/US10953545B2/en active Active
-
2019
- 2019-08-09 CN CN201910735484.7A patent/CN110874100A/zh active Pending
Patent Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20040168148A1 (en) * | 2002-12-17 | 2004-08-26 | Goncalves Luis Filipe Domingues | Systems and methods for landmark generation for visual simultaneous localization and mapping |
US20140333741A1 (en) * | 2013-05-08 | 2014-11-13 | Regents Of The University Of Minnesota | Constrained key frame localization and mapping for vision-aided inertial navigation |
CN104732518A (zh) * | 2015-01-19 | 2015-06-24 | 北京工业大学 | 一种基于智能机器人地面特征的ptam改进方法 |
CN107438754A (zh) * | 2015-02-10 | 2017-12-05 | 御眼视觉技术有限公司 | 用于自主车辆导航的稀疏地图 |
CN105953796A (zh) * | 2016-05-23 | 2016-09-21 | 北京暴风魔镜科技有限公司 | 智能手机单目和imu融合的稳定运动跟踪方法和装置 |
CN106599108A (zh) * | 2016-11-30 | 2017-04-26 | 浙江大学 | 一种三维环境中多模态环境地图构建方法 |
CN106885574A (zh) * | 2017-02-15 | 2017-06-23 | 北京大学深圳研究生院 | 一种基于重跟踪策略的单目视觉机器人同步定位与地图构建方法 |
CN106940186A (zh) * | 2017-02-16 | 2017-07-11 | 华中科技大学 | 一种机器人自主定位与导航方法及系统 |
CN107677279A (zh) * | 2017-09-26 | 2018-02-09 | 上海思岚科技有限公司 | 一种定位建图的方法及系统 |
CN108303099A (zh) * | 2018-06-14 | 2018-07-20 | 江苏中科院智能科学技术应用研究院 | 基于三维视觉slam的无人机室内自主导航方法 |
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111624636A (zh) * | 2020-05-25 | 2020-09-04 | 腾讯科技(深圳)有限公司 | 数据处理方法、装置、电子设备及计算机可读介质 |
CN113465624A (zh) * | 2020-07-13 | 2021-10-01 | 北京京东乾石科技有限公司 | 用于自动驾驶车辆识别路口的系统和方法 |
US11748999B2 (en) | 2020-07-13 | 2023-09-05 | Beijing Jingdong Qianshi Technology Co., Ltd. | System and method for recognizing intersection by autonomous vehicles |
CN113465624B (zh) * | 2020-07-13 | 2024-04-16 | 北京京东乾石科技有限公司 | 用于自动驾驶车辆识别路口的系统和方法 |
TWI756844B (zh) * | 2020-09-25 | 2022-03-01 | 財團法人工業技術研究院 | 自走車導航裝置及其方法 |
US11636612B2 (en) | 2020-09-25 | 2023-04-25 | Industrial Technology Research Institute | Automated guided vehicle navigation device and method thereof |
CN112445728A (zh) * | 2020-11-30 | 2021-03-05 | 中科院软件研究所南京软件技术研究院 | 一种支持多种硬件接口的机器人开发板ros通讯系统 |
CN112445728B (zh) * | 2020-11-30 | 2023-07-21 | 中科院软件研究所南京软件技术研究院 | 一种支持多种硬件接口的机器人开发板ros通讯系统 |
CN113587916A (zh) * | 2021-07-27 | 2021-11-02 | 北京信息科技大学 | 实时稀疏视觉里程计、导航方法以及系统 |
CN113587916B (zh) * | 2021-07-27 | 2023-10-03 | 北京信息科技大学 | 实时稀疏视觉里程计、导航方法以及系统 |
Also Published As
Publication number | Publication date |
---|---|
US20200047340A1 (en) | 2020-02-13 |
US10953545B2 (en) | 2021-03-23 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US10953545B2 (en) | System and method for autonomous navigation using visual sparse map | |
CN109211241B (zh) | 基于视觉slam的无人机自主定位方法 | |
US9990736B2 (en) | Robust anytime tracking combining 3D shape, color, and motion with annealed dynamic histograms | |
US9933264B2 (en) | System and method for achieving fast and reliable time-to-contact estimation using vision and range sensor data for autonomous navigation | |
CN109917818B (zh) | 基于地面机器人的协同搜索围堵方法 | |
KR102192791B1 (ko) | 이동 로봇 및 이동 로봇의 제어방법 | |
CN104536445B (zh) | 移动导航方法和系统 | |
CN109186606B (zh) | 一种基于slam和图像信息的机器人构图及导航方法 | |
Boniardi et al. | Robot localization in floor plans using a room layout edge extraction network | |
EP3414641B1 (en) | System and method for achieving fast and reliable time-to-contact estimation using vision and range sensor data for autonomous navigation | |
Gao et al. | Robust RGB-D simultaneous localization and mapping using planar point features | |
CN110807350A (zh) | 用于面向扫描匹配的视觉slam的系统和方法 | |
Bista et al. | Appearance-based indoor navigation by IBVS using line segments | |
Maier et al. | Vision-based humanoid navigation using self-supervised obstacle detection | |
Chatterjee et al. | Mobile robot navigation | |
Nguyen et al. | Vision-based qualitative path-following control of quadrotor aerial vehicle | |
Einhorn et al. | Attention-driven monocular scene reconstruction for obstacle detection, robot navigation and map building | |
Patel et al. | Semantic segmentation guided slam using vision and lidar | |
Maier et al. | Appearance-based traversability classification in monocular images using iterative ground plane estimation | |
Li et al. | Indoor layout estimation by 2d lidar and camera fusion | |
Missura et al. | Polygonal perception for mobile robots | |
Roggeman et al. | Embedded vision-based localization and model predictive control for autonomous exploration | |
Zhang et al. | Visual odometry based on random finite set statistics in urban environment | |
CN114202701A (zh) | 一种基于物体语义的无人机视觉重定位方法 | |
Wang et al. | Combination of the ICP and the PSO for 3D-SLAM |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20210521 Address after: 101, 1st floor, building 2, yard 20, Suzhou street, Haidian District, Beijing Applicant after: Beijing Jingbangda Trading Co.,Ltd. Applicant after: JD.com American Technologies Corp. Address before: 100086 8th Floor, 76 Zhichun Road, Haidian District, Beijing Applicant before: BEIJING JINGDONG SHANGKE INFORMATION TECHNOLOGY Co.,Ltd. Applicant before: JD.com American Technologies Corp. Effective date of registration: 20210521 Address after: Room a1905, 19th floor, building 2, yard 18, Kechuang 11th Street, Beijing Economic and Technological Development Zone, Daxing District, Beijing Applicant after: Beijing Jingdong Qianshi Technology Co.,Ltd. Applicant after: JD.com American Technologies Corp. Address before: 101, 1st floor, building 2, yard 20, Suzhou street, Haidian District, Beijing 100080 Applicant before: Beijing Jingbangda Trading Co.,Ltd. Applicant before: JD.com American Technologies Corp. |
|
TA01 | Transfer of patent application right | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination |