CN111373336A - 状态感知方法以及相关设备 - Google Patents
状态感知方法以及相关设备 Download PDFInfo
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Abstract
一种状态感知方法以及相关设备，该方法包括：采集当前帧点云数据(S101)；从历史点云库中抽取N个历史帧点云数据(S102)，该N个历史帧的采集时间均在该当前帧的采集时间之前，其中，N为大于或等于1的正整数；将该当前帧点云数据和该N个历史帧点云数据分别进行点云配准，获得该当前帧点云数据的N个状态估计值(S103)；将该N个状态估计值进行叠加，得到该当前帧点云数据的状态估计结果(S104)。该方法及设备能够实现在不需要回环运动的情况下也能过滤无规则噪音，得到较准确的状态感知结果，提高SLAM系统定位建图精度。
Description
PCT国内申请，说明书已公开。
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- PCT国内申请，权利要求书已公开。
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/112981 WO2019100354A1 (zh) | 2017-11-25 | 2017-11-25 | 状态感知方法以及相关设备 |
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| Publication Number | Publication Date |
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| CN111373336A true CN111373336A (zh) | 2020-07-03 |
| CN111373336B CN111373336B (zh) | 2022-03-29 |
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| CN (1) | CN111373336B (zh) |
| WO (1) | WO2019100354A1 (zh) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112686934A (zh) * | 2020-12-29 | 2021-04-20 | 广州广电研究院有限公司 | 点云数据的配准方法、装置、设备及介质 |
| CN115984803A (zh) * | 2023-03-10 | 2023-04-18 | 安徽蔚来智驾科技有限公司 | 数据处理方法、设备、驾驶设备和介质 |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112956187A (zh) * | 2019-10-11 | 2021-06-11 | 深圳市大疆创新科技有限公司 | 移动物体监控的方法、装置及计算机存储介质 |
| CN113835099A (zh) * | 2021-02-01 | 2021-12-24 | 贵州京邦达供应链科技有限公司 | 点云地图更新方法及装置、存储介质、电子设备 |
| CN115931055B (zh) * | 2023-01-06 | 2023-06-16 | 长江信达软件技术（武汉）有限责任公司 | 一种基于大数据分析的农村供水运行诊断方法及系统 |
Citations (3)
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| CN104236548A (zh) * | 2014-09-12 | 2014-12-24 | 清华大学 | 一种微型无人机室内自主导航方法 |
| CN107160395A (zh) * | 2017-06-07 | 2017-09-15 | 中国人民解放军装甲兵工程学院 | 地图构建方法及机器人控制系统 |
| CN107300917A (zh) * | 2017-05-23 | 2017-10-27 | 北京理工大学 | 一种基于分层架构的视觉slam后端优化方法 |
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2017
- 2017-11-25 WO PCT/CN2017/112981 patent/WO2019100354A1/zh active Application Filing
- 2017-11-25 CN CN201780096950.0A patent/CN111373336B/zh active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104236548A (zh) * | 2014-09-12 | 2014-12-24 | 清华大学 | 一种微型无人机室内自主导航方法 |
| CN107300917A (zh) * | 2017-05-23 | 2017-10-27 | 北京理工大学 | 一种基于分层架构的视觉slam后端优化方法 |
| CN107160395A (zh) * | 2017-06-07 | 2017-09-15 | 中国人民解放军装甲兵工程学院 | 地图构建方法及机器人控制系统 |
Non-Patent Citations (3)
| Title |
|---|
| GABRIELE COSTANTE等: "Exploring Representation Learning With CNNs for Frame-to-Frame Ego-Motion Estimation", 《IEEE ROBOTICS AND AUTOMATION LETTERS》 * |
| LAURIE BOSE等: "Fast depth edge detection and edge based RGB-D SLAM", 《2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)》 * |
| 付梦印 等: "基于RGB-D数据的实时SLAM算法", 《机器人》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112686934A (zh) * | 2020-12-29 | 2021-04-20 | 广州广电研究院有限公司 | 点云数据的配准方法、装置、设备及介质 |
| CN115984803A (zh) * | 2023-03-10 | 2023-04-18 | 安徽蔚来智驾科技有限公司 | 数据处理方法、设备、驾驶设备和介质 |
| CN115984803B (zh) * | 2023-03-10 | 2023-12-12 | 安徽蔚来智驾科技有限公司 | 数据处理方法、设备、驾驶设备和介质 |
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| WO2019100354A1 (zh) | 2019-05-31 |
| CN111373336B (zh) | 2022-03-29 |
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