CN112344940B - Positioning method and device integrating reflective columns and grid map - Google Patents
Positioning method and device integrating reflective columns and grid map Download PDFInfo
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Abstract
The utility model discloses a positioning method for fusing a light reflecting column and a grid map, which comprises the following steps: acquiring a reflective column in a current frame and corresponding odometer pose data; detecting whether the local probability grid map is initialized, and if not, updating the local probability grid map according to the current frame reflection column and corresponding odometer pose data; if so, the position and pose data of the current frame reflective column and the corresponding odometer are used as initial values, a more accurate constraint relation is obtained through tracking of a local probability grid map, and the position and pose of the object to be positioned are optimized through the constraint relation; acquiring the corresponding relation between the previous frame of reflection column data and the current frame of reflection column data, tracking through a local probability grid map, and optimizing the pose of the object to be positioned by using a least square method; and updating the grid map according to the pose of the object to be positioned after optimization and the reflective column data of the current frame. The utility model can continuously feed back pose information in real time and ensure the stability of mapping and positioning.
Description
Technical Field
The utility model relates to the technical field of positioning, in particular to a positioning method and device integrating a light reflecting column and a grid map.
Background
The laser-based positioning mode is divided into a reflective column-based positioning mode and a contour-based positioning mode; the contour-based positioning mode has large calculation amount, is seriously influenced by the environment, has poor relative precision and cannot meet the requirement of precise operation of the mobile robot; the positioning mode based on the reflective columns has the advantages of small calculated amount, high positioning precision and good stability. The key of the positioning mode based on the reflecting column is the matching of the reflecting column, and the existing reflecting column positioning technology at home and abroad adopts the geometric triangle positioning principle; the laser pose is obtained by geometrically matching the detected reflecting column with a reflecting column map, the scheme utilizes the uniqueness of the shape characteristics of the reflecting column in the visual field to ensure the precision of repeated positioning, and the reflecting column cannot be symmetrically distributed and locally distributed similarly in the positioning process, so that the requirement has higher requirement on the deployment of the reflecting column, and particularly under a large scene, the implementation difficulty is very high; in practical application, due to the existence of various complex motions and complex ground environments, the continuity and stability of the positioning position based on geometric triangulation positioning are difficult to ensure.
Disclosure of Invention
In order to solve the technical problem, the utility model provides a positioning method and a positioning device for fusing a light reflecting column and a grid map.
In order to achieve the purpose, the technical scheme of the utility model is as follows:
a positioning method for fusing a reflective column and a grid map comprises the following steps:
acquiring reflection column data and corresponding odometer pose data in a current frame;
whether the local probability grid map is initialized is detected, if not, the local probability grid map is updated according to the light reflection column data in the current frame and the corresponding odometer pose data; if the detection result is positive, the reflection column data in the current frame and the pose data of the current odometer are used as initial values, a more accurate constraint relation is obtained through tracking of a local probability grid map, and the pose of the object to be positioned is optimized through the constraint relation;
acquiring the corresponding relation between the previous frame of reflective column data and the current frame of reflective column data, optimizing the pose of the object to be positioned by tracking a local probability grid map and utilizing a least square method, and acquiring the pose of the object to be positioned after optimization;
and updating the grid map according to the pose of the object to be positioned after optimization and the reflective column data of the current frame.
Preferably, the acquiring of the light reflection column data and the corresponding odometer pose data in the current frame specifically includes the following steps:
extracting reflective column data in the current frame data based on the reflective intensity of the reflective column;
and calculating the position of the reflection column of the current frame data by taking the current laser radar center as an origin.
Preferably, after the light reflection column data and the corresponding odometer pose data in the current frame are acquired, the method further includes the following steps:
detecting the number of the reflective columns extracted from the current frame data, and waiting for the next frame data if the detected number of the same reflective columns is less than 3; and if the number of the detected same reflective columns is not less than 3, entering the next step, and detecting whether the local probability grid map is initialized.
Preferably, the pose of the object to be positioned is optimized through the constraint relation, and the pose of the object to be positioned at the current moment is obtained through calculation by adopting maximum likelihood estimation.
Preferably, the pose of the object to be positioned at the current moment is obtained by adopting maximum likelihood estimation calculation, and the pose is obtained by adopting the following formula:
in the formula, MrefFor map data of partial reflectors, piFor the reflection column data, symbols in the current frame
Representing a rotational-translational transformation; symbol | { Mref,., representing the Euclidean distance from the point to the local reflective column data, and P is the pose in the calculation process.
Preferably, the method for optimizing the pose of the object to be positioned by tracking through the local probability grid map and utilizing a least square method comprises the following steps:
detecting the condition of the same reflective columns in the reflective column data in the previous frame and the reflective column data in the current frame, and waiting for the next frame of data if the number of the detected same reflective columns is less than 3; if the number of the detected same reflective columns is not less than 3, optimizing the motion amount of the object to be positioned of the front frame data and the rear frame data by using a least square method, and further optimizing the pose of the current object to be positioned by using the optimized motion amount.
Preferably, the detecting the condition of the same reflective columns in the reflective column data in the previous frame and the reflective column data in the current frame includes the following steps:
acquiring a probability grid map generated by reflection column data in the previous frame;
calculating the probability of a light reflecting column in the current frame data on a probability grid map according to the pose of the object to be positioned in the current frame;
judging whether the probability is lower than a preset threshold value or not, if so, determining that the data of the reflection column in the current frame and the data of the reflection column in the previous frame are different observation data; if not, and the position, the distance and the included angle of the data of the reflecting column in the current frame from the current laser radar center position and the laser radar center in the previous frame meet the preset threshold conditions, the data of the reflecting column in the current frame and the data of the reflecting column in the previous frame are the same observation data.
Preferably, the method further comprises the following steps: and resetting the grid map when the relative motion quantity of the current frame positioning pose and the first frame data of the grid map reaches a preset threshold value, wherein the grid map resetting comprises a probability value of the grid map resetting, a grid map resetting origin and a local probability grid map updating.
A positioning device fusing a reflective column and a grid map comprises:
the first acquisition module is used for acquiring the reflective column data of the current frame and the corresponding odometer pose data;
the second acquisition module is used for acquiring a local probability grid map;
the first operation module is used for detecting whether the local probability grid map is initialized or not, and if the detection result is negative, updating the local probability grid map according to the light reflection column data in the current frame and the corresponding odometer pose data; if the detection result is positive, the reflection column data in the current frame and the pose data of the current odometer are used as initial values, a more accurate constraint relation is obtained through tracking of a local probability grid map, and the pose of the object to be positioned is optimized through the constraint relation;
the second operation module is used for acquiring the corresponding relation between the previous frame of reflective column data and the current frame of reflective column data, optimizing the pose of the object to be positioned by tracking a local probability grid map and utilizing a least square method, and acquiring the pose of the object to be positioned after optimization;
and the local probability grid map resetting module is used for updating the grid map according to the pose of the object to be positioned after optimization and the reflective column data of the current frame.
Preferably, the device further comprises a common observation reflective column data removing module for removing unstable data in the reflective column observed by the two frames of data together.
Based on the technical scheme, the utility model has the beneficial effects that: a positioning method fusing a reflective column and a grid map can reasonably process symmetric distribution and local similar situations existing in reflective column deployment, continuously feed back pose information in real time and ensure the stability of map construction and positioning.
Drawings
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
FIG. 1: the utility model relates to a flow chart of a positioning method fusing a light reflecting column and a grid map;
FIG. 2: the embodiment of the utility model provides a layout of a reflection column in a certain factory environment;
FIG. 3: the local grid map in the positioning process of the corridor in a certain factory area in the first embodiment of the utility model;
FIG. 4: the utility model provides a schematic diagram of pose tracking conditions in a certain plant area corridor positioning process.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
Example one
As shown in fig. 1, a positioning method of a fusion light-reflecting column and a grid map includes the following steps:
acquiring reflection column data and corresponding odometer pose data in a current frame;
whether the local probability grid map is initialized is detected, if not, the local probability grid map is updated according to the light reflection column data in the current frame and the corresponding odometer pose data; if the detection result is positive, the reflection column data in the current frame and the pose data of the current odometer are used as initial values, a more accurate constraint relation is obtained through tracking of a local probability grid map, and the pose of the object to be positioned is optimized through the constraint relation;
acquiring the corresponding relation between the previous frame of reflective column data and the current frame of reflective column data, optimizing the pose of the object to be positioned by tracking a local probability grid map and utilizing a least square method, and acquiring the pose of the object to be positioned after optimization;
and updating the grid map according to the pose of the object to be positioned after optimization and the reflective column data of the current frame.
Further, the method for acquiring the light reflection column data and the corresponding odometer pose data in the current frame specifically comprises the following steps:
extracting reflective column data in the current frame data based on the reflective intensity of the reflective column;
and calculating the position of the reflection column of the current frame data by taking the current laser radar center as an origin.
Further, after the light reflection column data and the corresponding odometer pose data in the current frame are obtained, the method further comprises the following steps:
detecting the number of the reflective columns extracted from the current frame data, and waiting for the next frame data if the detected number of the same reflective columns is less than 3; and if the number of the detected same reflective columns is not less than 3, entering the next step, and detecting whether the local probability grid map is initialized.
Further, optimizing the pose of the object to be positioned through the constraint relation, and calculating by adopting maximum likelihood estimation to obtain the pose of the object to be positioned at the current moment.
Further, the pose of the object to be positioned at the current moment is obtained by adopting maximum likelihood estimation calculation, and the pose is obtained by adopting the following formula:
in the formula, MrefFor map data of partial reflectors, piFor the reflection column data, symbols in the current frame
Representing a rotational-translational transformation; symbol | { Mref,., representing the Euclidean distance from the point to the local reflective column data, and P is the pose in the calculation process.
Further, the method for optimizing the pose of the object to be positioned by tracking the local probability grid map and utilizing a least square method comprises the following steps:
detecting the condition of the same reflective columns in the reflective column data in the previous frame and the reflective column data in the current frame, and waiting for the next frame of data if the number of the detected same reflective columns is less than 3; if the number of the detected same reflective columns is not less than 3, optimizing the motion amount of the object to be positioned of the front frame data and the rear frame data by using a least square method, and further optimizing the pose of the current object to be positioned by using the optimized motion amount.
Further, the detecting the condition of the same reflective column in the reflective column data in the previous frame and the reflective column data in the current frame includes the following steps:
acquiring a probability grid map generated by reflection column data in the previous frame;
calculating the probability of a light reflecting column in the current frame data on a probability grid map according to the pose of the object to be positioned in the current frame;
judging whether the probability is lower than a preset threshold value, if so, judging that the data of the light reflecting column in the current frame and the data of the light reflecting column in the previous frame are different observation data; if not, and the position, the distance and the included angle of the data of the reflecting column in the current frame from the current laser radar center position and the laser radar center in the previous frame meet the preset threshold conditions, the data of the reflecting column in the current frame and the data of the reflecting column in the previous frame are the same observation data.
Further, the method also comprises the following steps: and resetting the grid map when the relative motion quantity of the current frame positioning pose and the first frame data of the grid map reaches a preset threshold value, wherein the grid map resetting comprises a probability value of the grid map resetting, a grid map resetting origin and a local probability grid map updating.
A positioning device fusing a reflective column and a grid map comprises:
the first acquisition module is used for acquiring the reflective column data of the current frame and the corresponding odometer pose data;
the second acquisition module is used for acquiring a local probability grid map;
the first operation module is used for detecting whether the local probability grid map is initialized or not, and if the detection result is negative, updating the local probability grid map according to the light reflection column data in the current frame and the corresponding odometer pose data; if the detection result is positive, the reflection column data in the current frame and the pose data of the current odometer are used as initial values, a more accurate constraint relation is obtained through tracking of a local probability grid map, and the pose of the object to be positioned is optimized through the constraint relation;
the second operation module is used for acquiring the corresponding relation between the previous frame of reflective column data and the current frame of reflective column data, optimizing the pose of the object to be positioned by tracking a local probability grid map and utilizing a least square method, and acquiring the pose of the object to be positioned after optimization;
and the local probability grid map resetting module is used for updating the grid map according to the pose of the object to be positioned after optimization and the reflective column data of the current frame.
And the common observation reflective column data rejection module is used for rejecting unstable data in the reflective column observed by the two frames of data together.
The specific implementation process comprises the following steps:
firstly, laser reflecting columns are deployed in an environment (no less than 3 laser reflecting columns can be simultaneously kept within the range of a visual field of a robot), as shown in fig. 2, the laser reflecting columns are deployed in a certain factory environment, a motion chassis capable of detecting the laser radar of the reflecting columns is controlled to be mounted, the robot can walk in the environment as shown in fig. 2, after a local map is initialized on the chassis, the position of the robot can be calculated on the local map according to high reflection intensity data and odometer position and pose information identified at the current moment, the information is updated on the local map to facilitate subsequent tracking, as shown in fig. 3, a local grid map in the positioning process of a corridor of a certain factory area is used, as shown in fig. 4, a position and pose tracking situation schematic diagram in the positioning process is used, and a corridor problem is solved by adding the reflecting columns in the environment, so that continuous and stable positioning is realized.
The above description is only a preferred embodiment of the method and apparatus for positioning a fused reflector and grid map disclosed in the present invention, and is not intended to limit the scope of the embodiments of the present disclosure. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the embodiments of the present disclosure should be included in the protection scope of the embodiments of the present disclosure.
The systems, apparatuses, modules or units described in the above embodiments may be specifically implemented by a computer chip or an entity, or implemented by a product with certain functions. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The embodiments in the present specification are all described in a progressive manner, and the same and similar parts among the embodiments can be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
Claims (10)
1. A positioning method for fusing a reflective column and a grid map is characterized by comprising the following steps:
acquiring reflection column data and corresponding odometer pose data in a current frame;
whether the local probability grid map is initialized is detected, if not, the local probability grid map is updated according to the light reflection column data in the current frame and the corresponding odometer pose data; if the detection result is positive, the reflection column data in the current frame and the pose data of the current odometer are used as initial values, a more accurate constraint relation is obtained through tracking of a local probability grid map, and the pose of the object to be positioned is optimized through the constraint relation;
acquiring the corresponding relation between the previous frame of reflective column data and the current frame of reflective column data, optimizing the pose of the object to be positioned by tracking a local probability grid map and utilizing a least square method, and acquiring the pose of the object to be positioned after optimization;
and updating the grid map according to the pose of the object to be positioned after optimization and the reflective column data of the current frame.
2. The positioning method fusing the reflective column and the grid map according to claim 1, wherein the acquiring of the reflective column data and the corresponding odometer pose data in the current frame specifically comprises the following steps:
extracting reflective column data in the current frame data based on the reflective intensity of the reflective column;
and calculating the position of the reflection column of the current frame data by taking the current laser radar center as an origin.
3. The positioning method fusing the retroreflective sheeting and the grid map as claimed in claim 1, wherein after acquiring the retroreflective sheeting data and the corresponding odometer pose data in the current frame, the method further comprises the following steps:
detecting the number of the reflective columns extracted from the current frame data, and waiting for the next frame data if the detected number of the same reflective columns is less than 3; and if the number of the detected same reflective columns is not less than 3, entering the next step, and detecting whether the local probability grid map is initialized.
4. The positioning method fused with the reflective columns and the grid map as claimed in claim 1, wherein the pose of the object to be positioned is optimized through the constraint relationship, and the pose of the object to be positioned at the current moment is obtained through maximum likelihood estimation calculation.
5. The positioning method fused with the reflective columns and the grid map as claimed in claim 4, wherein the pose of the object to be positioned at the current time is obtained by maximum likelihood estimation, and the pose is obtained by the following formula:
in the formula, MrefFor map data of partial reflectors, piFor the reflection column data, symbols in the current frame
Representing a rotational-translational transformation; symbol | { Mref,., representing the Euclidean distance from the point to the local reflective column data, and P is the pose in the calculation process.
6. The positioning method of the fusion reflection post and grid map as claimed in claim 1, wherein the method of tracking the local probability grid map and optimizing the pose of the object to be positioned by using the least square method comprises the following steps:
detecting the condition of the same reflective columns in the reflective column data in the previous frame and the reflective column data in the current frame, and waiting for the next frame of data if the number of the detected same reflective columns is less than 3; if the number of the detected same reflective columns is not less than 3, optimizing the motion amount of the object to be positioned of the front frame data and the rear frame data by using a least square method, and further optimizing the pose of the current object to be positioned by using the optimized motion amount.
7. The method as claimed in claim 6, wherein the step of detecting the same reflector in the previous frame of reflector data and the current frame of reflector data comprises the steps of:
acquiring a probability grid map generated by reflection column data in the previous frame;
calculating the probability of a light reflecting column in the current frame data on a probability grid map according to the pose of the object to be positioned in the current frame;
judging whether the probability is lower than a preset threshold value or not, if so, determining that the data of the reflection column in the current frame and the data of the reflection column in the previous frame are different observation data; if not, and the position, the distance and the included angle of the data of the reflecting column in the current frame from the current laser radar center position and the laser radar center in the previous frame meet the preset threshold conditions, the data of the reflecting column in the current frame and the data of the reflecting column in the previous frame are the same observation data.
8. The method for positioning a combined reflective column and grid map as claimed in claim 7, further comprising the steps of: and resetting the grid map when the relative motion quantity of the current frame positioning pose and the first frame data of the grid map reaches a preset threshold value, wherein the grid map resetting comprises a probability value of the grid map resetting, a grid map resetting origin and a local probability grid map updating.
9. The utility model provides a positioner who fuses reflection of light post and grid map which characterized in that includes:
the first acquisition module is used for acquiring the reflective column data of the current frame and the corresponding odometer pose data;
the second acquisition module is used for acquiring a local probability grid map;
the first operation module is used for detecting whether the local probability grid map is initialized or not, and if the detection result is negative, updating the local probability grid map according to the light reflection column data in the current frame and the corresponding odometer pose data; if the detection result is positive, the reflection column data in the current frame and the pose data of the current odometer are used as initial values, a more accurate constraint relation is obtained through tracking of a local probability grid map, and the pose of the object to be positioned is optimized through the constraint relation;
the second operation module is used for acquiring the corresponding relation between the previous frame of reflective column data and the current frame of reflective column data, optimizing the pose of the object to be positioned by tracking a local probability grid map and utilizing a least square method, and acquiring the pose of the object to be positioned after optimization;
and the local probability grid map resetting module is used for updating the grid map according to the pose of the object to be positioned after optimization and the reflective column data of the current frame.
10. The positioning device for fusing the reflective column and the grid map as claimed in claim 9, further comprising a common observation reflective column data removing module for removing unstable data in the reflective column observed by the two frames of data together.
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