CN112902977A - Data acquisition carrying support, data acquisition device and positioning and mapping method thereof - Google Patents
Data acquisition carrying support, data acquisition device and positioning and mapping method thereof Download PDFInfo
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- CN112902977A CN112902977A CN202110110659.2A CN202110110659A CN112902977A CN 112902977 A CN112902977 A CN 112902977A CN 202110110659 A CN202110110659 A CN 202110110659A CN 112902977 A CN112902977 A CN 112902977A
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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
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
- F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
- F16M13/022—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle repositionable
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
- F16M13/04—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or holding steady relative to, a person, e.g. by chains, e.g. rifle butt or pistol grip supports, supports attached to the chest or head
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D11/00—Component parts of measuring arrangements not specially adapted for a specific variable
- G01D11/30—Supports specially adapted for an instrument; Supports specially adapted for a set of instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention provides a data acquisition carrying support, which sequentially comprises a carrying layer, a handheld layer and a chassis layer from the top to the bottom, wherein a detachable sucker is arranged at the bottom of the chassis layer, the carrying layer comprises a sensor carrying plate and a fixing frame, the sensor carrying plate is positioned between the fixing frame and the handheld layer, and a plurality of connecting holes for fixing a sensor are formed in the sensor carrying plate. The invention also provides a data acquisition device. The invention also provides a positioning and mapping method of the data acquisition device. The invention can not only collect data by hand, but also load the data on other carriers, can carry various sensors, and is suitable for cooperative positioning and mapping of multiple intelligent agents.
Description
Technical Field
The invention relates to the technical field of positioning and mapping, in particular to a data acquisition carrying support, a data acquisition device and a positioning and mapping method thereof.
Background
Instant positioning and Mapping (SLAM, hereinafter, referred to as SLAM) is a popular research direction in the field of current mobile robots and computer vision, researches the observation of the robot on the environment when the robot moves in an unknown environment, simultaneously detects the self pose and the motion track, and finally constructs an accurate map. Generally, in order to ensure the accuracy of mapping, the instant positioning and mapping technology usually uses multiple sensors, such as multiple cameras, radars, inertial measurement units, etc., to collect current environmental information during the mapping process. The data acquisition process in the map building mainly comprises two modes, one mode is that a sensor group is carried on a carrier through the carrier such as a robot chassis and an automobile, and the sensor group is started when the carrier starts to move, so that the sensor group records the environmental change in the whole movement process; this method is most commonly used in the SLAM field; the other type is that the sensor group is held by hands manually and walks around the whole environment needing to be collected, and the sensor group is often used for collecting some areas with more obstacles and inconvenient walking of the carrier, such as indoor environment and the like. Meanwhile, in order to ensure the accuracy of the instant positioning and mapping algorithm, data fusion of multiple sensors is often adopted as the input of the algorithm, namely, the multiple sensors are used for recording the same process, and the data in the process are combined and used as required, so that the requirements on the number of types of the sensors which can be carried by the device and the flexibility of replacement are also met.
Chinese patent publication No. CN109490907A, published as 2019, 3/19/h, discloses a handheld synchronous positioning and mapping device and method, including a handheld mechanical support structure, which is composed of an installation platform, a base and a handheld grip lever, where the laser radar, the IMU inertial measurement unit and the camera are all fixed on the installation platform, and the handheld mechanical support in this patent cannot be used on a vehicle, and has no versatility, and is required to be modified for use of various sensors, and is relatively troublesome and cannot be directly reused.
Disclosure of Invention
The invention aims to overcome the defects that the existing sensor carrying support cannot support handholding and vehicle-mounting simultaneously and the structure needs to be modified for carrying different sensors, and provides a data acquisition carrying support. The invention can not only collect data by hand, but also load the data on other carriers, can carry various sensors, and is suitable for cooperative positioning and mapping of multiple intelligent agents.
The invention also provides a data acquisition device.
The invention also provides a positioning and mapping method of the data acquisition device.
In order to solve the technical problems, the invention adopts the technical scheme that: the utility model provides a data acquisition carries on support, includes in proper order from top to bottom and carries on layer, handheld layer and chassis layer, the bottom on chassis layer is equipped with the detachable sucking disc, carry on layer including sensor carrying plate and mount, sensor carrying plate is located between mount and the handheld layer, be equipped with the connecting hole that a plurality of is used for fixed sensor on the sensor carrying plate.
In the technical scheme, the carrying layer is divided into a sensor carrying plate and a fixing frame, various sensors are fixed on the sensor carrying plate through connecting holes, and a controller for processing data is fixed on the fixing frame, so that the data collected by the sensors can be directly input into the controller fixed on the fixing frame through a data line. When needs staff are handheld to be removed, the sucking disc on the chassis can be detached, when the carrying support is used on an automobile or a robot carrier, the sucking disc is installed at the bottom of the chassis, the data acquisition device is fixed on other carriers through the carrying support, even if the scene is used, the scene after the change can be well adapted, and the universality is high.
Further, the mount includes "T" type frame, first rubber band, second rubber band and gag lever post, a gag lever post is inserted respectively to the three-terminal of "T" type frame, be equipped with the couple in bank on the gag lever post, the gag lever post is kept away from the terminal surface of "T" type frame is equipped with the stopper, one of them couple of each gag lever post is caught to first rubber band, the second rubber band cover is established on the stopper of each gag lever post. Among this technical scheme, the controller is placed on "T" type frame, and the stopper of each gag lever post terminal surface can be fixed the controller, and the cooperation of first rubber band and second rubber band makes each gag lever post tighten up to "T" type frame is inside, and its respective stopper carries out elastic fixation to the controller. Because each limiting rod can stretch out and draw back in the T-shaped frame, the controllers with different sizes can be fixed.
Furthermore, the sensor carrying plate is provided with a detachable camera carrying frame and a detachable radar carrying frame.
Furthermore, the handheld layer comprises two handles symmetrically arranged on two sides of the chassis layer, and finger-shaped holding positions are arranged on the inner sides of the handles.
Furthermore, the bottom plate layer is a storage box with an open top, and the bottom of the storage box is a flat surface convenient for dismounting the sucker. The storage box can load power module or other physical equipment, and the storage box bottom is established to the planishing face and is the dismouting of the sucking disc of being convenient for, and this support of carrying on of being convenient for passes through the sucking disc and installs on other carriers.
The utility model provides a data acquisition device, includes foretell data acquisition and carries on the support, still includes data acquisition unit, data processing unit, data integration unit and location and builds the picture unit, the data acquisition unit is fixed data acquisition carries on the sensor of support and carries on the board, data processing unit, data integration unit and location are built the picture unit and are located on the mount.
Among this technical scheme, data acquisition carries on the support and supports carrying on data acquisition device's whole for it can carry on the support to fix through data acquisition and move on other carriers, accomplishes data acquisition, or the handheld removal of staff of being convenient for, accomplishes data acquisition.
Furthermore, the data acquisition unit comprises a solid-state radar, a vision camera, an inertia measurement unit, an event camera and a laser radar, and the solid-state radar, the vision camera, the inertia measurement unit, the event camera and the laser radar are fixed on the sensor carrying plate.
Furthermore, the data processing unit, the data integration unit and the positioning and drawing unit are integrated in a micro server/notebook computer/single chip microcomputer.
Further, the mini server/notebook computer/single chip microcomputer is fixed on the fixing frame.
A positioning and mapping method of a data acquisition device comprises the following steps:
s1, inputting acquired data into a micro server/notebook computer/single chip microcomputer by a visual sensor, a radar sensor and an inertia measurement unit;
s2, in the miniature server/notebook computer/single chip microcomputer, heterogeneous data feature matching is carried out on data collected by a vision sensor and data collected by a radar sensor to complete a local constraint component, and the position and pose data of a sensor group provided by an inertial measurement unit is adopted to optimize the local component; meanwhile, data collected by a vision sensor is combined with a radar sensor to perform heterogeneous point cloud registration to complete inter-frame attitude estimation, and inter-frame attitude is optimized by adopting sensor group attitude data provided by an inertial measurement unit;
and S3, completing global constraint construction based on inter-frame attitude estimation, performing global optimization on the global constraint construction by using a local constraint component, and finally constructing a generalized point cloud map.
Compared with the prior art, the invention has the beneficial effects that:
the detachable sucker realizes multi-carrier application and multi-acquisition scene application, can be applied to two most common data acquisition processes of vehicle-mounted and hand-held, can freely switch the carrying mode in the same acquisition process due to the carrying flexibility, and can be changed into vehicle-mounted (or opposite) by hand-holding, thereby greatly improving the flexibility of data acquisition; the data acquisition device can carry a physical device of the data acquisition device, carry various sensors, replace the carried sensors according to actual use conditions and have strong reusability.
The data acquisition device and the positioning mapping method thereof realize data association of the heterogeneous sensor, break through the limitations of a traditional single sensor data association model and mapping method, realize robust and high-precision feature extraction and pose estimation, provide a mapping method with robustness and excellent performance based on data association of the heterogeneous sensor, solve the problem of poor performance of the traditional method in complex scenes such as indoor and outdoor transition and the like, improve the precision of an output mapping result, and better meet the application performance requirements of the current intelligent body in practical scenes.
Drawings
Fig. 1 is a schematic structural diagram of a data acquisition carrying bracket according to the present invention.
FIG. 2 is a schematic structural diagram of a data acquisition device according to the present invention.
FIG. 3 is a flow chart of a method for locating and mapping a data acquisition device according to the present invention.
The graphic symbols are illustrated as follows:
1-a chassis layer, 2-a handle, 3-a T-shaped frame, 4-a limiting rod, 5-a limiting block, 6-a sensor carrying plate, 7-a hook, 8-a camera carrying frame, 9-a radar carrying frame, 10-a vision sensor and 11-a radar sensor.
Detailed Description
The present invention will be further described with reference to the following embodiments. Wherein the showings are for the purpose of illustration only and are shown by way of illustration only and not in actual form, and are not to be construed as limiting the present patent; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. based on the orientation or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but it is not intended to indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and are not to be construed as limiting the present patent, and the specific meaning of the terms may be understood by those skilled in the art according to specific circumstances.
Example 1
Fig. 1 shows an embodiment of a data acquisition mounting bracket according to the present invention. The utility model provides a data acquisition carries on support, wherein, includes in proper order from the top to the bottom and carries on layer, handheld layer and chassis layer 1, and the bottom of chassis layer 1 is equipped with the detachable sucking disc, carries on the layer and includes sensor carrying plate 6 and mount, and sensor carrying plate 6 is located between mount and the handheld layer, is equipped with the connecting hole that a plurality of is used for fixed sensor on sensor carrying plate 6.
Wherein, the mount includes "T" type frame 3, first rubber band, second rubber band and gag lever post 4, gag lever post 4 is inserted respectively to the three-terminal of "T" type frame 3, be equipped with couple 7 in bank on the gag lever post 4, the terminal surface that "T" type frame 3 was kept away from to gag lever post 4 is equipped with stopper 5, one of them couple 7 on each gag lever post 4 is caught on to first rubber band, make three gag lever post 4 can fix in "T" type frame 3 by elasticity, when the controller was placed on "T" type frame 3, gag lever post 4 owing to contract to "T" type frame 3 under the control of first rubber band, so its stopper 5 can be fixed the controller, the second rubber band cover is established on the stopper 5 of each gag lever post 4, further tighten up gag lever post 4 to "T" type frame 3 in, let stopper 5 can fix the controller firmly.
In this embodiment, the sensor mounting plate 6 is provided with a detachable camera mounting frame 8 and a detachable radar mounting frame 9, the visual sensor 10 is fixed on the sensor mounting plate 6 through the camera mounting frame 8, and the radar sensor 11 is fixed on the sensor mounting plate 6 through the radar mounting frame 9. When the vision sensor 10 or the radar sensor 11 needs to be installed, the relevant carrying frame can carry out carrying, so that the installation position of other sensors is not occupied, and other sensors can be loaded at the same time.
In this embodiment, the handheld layer includes two handles 2 symmetrically disposed on two sides of the chassis layer 1, the inner side of the handle 2 is provided with finger-shaped holding positions, the handle 2 is fixed between the sensor carrying plate 6 and the chassis layer 1 by screws, and the handle 2 with different lengths can be replaced according to the use scene.
In addition, the chassis layer 1 is a storage box with an open top, the bottom of the storage box is a flat surface convenient for dismounting the sucker, and the storage box can be used for placing a battery or other physical devices for supplying power to a sensor or a controller. The mounting of sucking disc is convenient for to the burnishing surface for whole carrying on the support can fix at other carriers, follows the carrier and removes.
The working principle of the embodiment is as follows: the carrying layer is divided into a sensor carrying plate 6 and a fixing frame, various sensors are fixed on the sensor carrying plate 6 through connecting holes, and a controller for processing data is fixed on the fixing frame, so that the data acquired by the sensors can be directly input into the controller fixed on the fixing frame through a data line. When needs staff handheld removal, can dismantle the sucking disc on chassis, when needs will carry on the support and apply carriers such as car or robot on, install the sucking disc in the bottom on chassis, just so can fix data acquisition device on other carriers through carrying on the support, even if use the scene to take place the change, the scene after adaptation change that also can be fine, general usefulness is strong.
Example 2
Fig. 2 shows an embodiment of a data acquisition device according to the present invention. The utility model provides a data acquisition device, wherein, including the data acquisition carries the support in embodiment 1, still include the data acquisition unit, the data processing unit, data integration unit and location are built the drawing unit, the data acquisition unit is fixed in the sensor of data acquisition carries the support and is carried board 6, the data processing unit, data integration unit and location are built the drawing unit and are located the mount, wherein the data processing unit, data integration unit and location are built the drawing unit and are integrated in miniature server, miniature server fixes on the mount, it needs to explain that, the data processing unit, data integration unit and location are built the drawing unit and also can be integrated on notebook computer or singlechip.
The miniature server is provided with an ubuntu system, is provided with a ros (robot operation system) environment, can perform data interaction with the sensor based on a wired mode and a wireless mode, and has the functions of preprocessing and packaging raw data, including visual image distortion removal, and packaging required raw data into a data packet in a rossbag format by using a rossbag instruction.
In addition, the data acquisition unit comprises a solid-state radar, a vision camera, an inertia measurement unit, an event camera and a laser radar, and the solid-state radar, the vision camera, the inertia measurement unit, the event camera and the laser radar are fixed on the sensor carrying plate 6; the vision camera can collect image frames in real time, the laser radar and the like can collect cloud point images of the surrounding environment in real time, the event camera can collect event flow information triggered and output by light change in real time, and the IMU (inertial measurement Unit) can collect attitude information such as speed, three-axis acceleration and the like in the motion process in real time
In the embodiment, the micro server sends an acquisition starting instruction to the solid-state radar and the binocular camera, the solid-state radar and the binocular camera start data acquisition after receiving the instruction, and the camera records image frames at the speed of 20 frames per second; the radar records the point cloud frame at the speed of 50 frames per second; the recorded data is transmitted to the miniature server in real time through a wire; the whole carrying support is held by a worker through the handle 2, the worker walks in a room, and the relative position of the data acquisition unit and the worker is kept unchanged as much as possible in the moving process so as to improve the quality of data acquired by the data acquisition unit; after walking around the whole indoor environment and returning to the starting point, the worker sends an acquisition stopping instruction to the data acquisition unit through the miniature server, and the data acquisition unit stops data acquisition after receiving the instruction; preprocessing the acquired original data through a miniature server, wherein the preprocessing generally comprises data preprocessing work such as image distortion removal and the like; and the data packing operation is completed through an interface instruction provided under a ros environment. The packed data is usually in a rossbag format, contains information of a timestamp, a binocular image frame and a point cloud frame, and can be used as input of a positioning and mapping algorithm to reconstruct an indoor environment collected in the process of just moving. It should be noted that, the present embodiment may be fixed to another mobile carrier through a suction cup, and data of a scene where the mobile carrier is located may be collected through movement of the carrier.
Example 3
Fig. 3 shows an embodiment of a method for mapping a location of a data acquisition device according to the present invention. A positioning and mapping method of a data acquisition device comprises the following steps:
s1, inputting acquired data into a miniature server by a visual sensor 10, a radar sensor 11 and an inertia measurement unit;
s2, in the miniature server, performing heterogeneous data feature matching on data acquired by the vision sensor 10 and data acquired by the radar sensor 11 to complete a local constraint component, and optimizing the local component by adopting sensor group pose data provided by an inertial measurement unit; meanwhile, data collected by the vision sensor 10 is combined with the radar sensor 11 to perform heterogeneous point cloud registration to complete inter-frame attitude estimation, and inter-frame attitude is optimized by adopting sensor group attitude data provided by an inertial measurement unit;
and S3, completing global constraint construction based on inter-frame attitude estimation, performing global optimization on the global constraint construction by using a local constraint component, and finally constructing a generalized point cloud map.
It should be noted that the micro server in this embodiment may be replaced by a notebook computer or a single chip microcomputer with a ubuntu system and a ros (robot operation system) environment.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. The utility model provides a data acquisition carries on support which characterized in that: from the top to the bottom in proper order including carrying on layer, handheld layer and chassis layer, the bottom on chassis layer is equipped with the detachable sucking disc, carry on the layer including sensor carrying plate and mount, sensor carrying plate is located between mount and the handheld layer, be equipped with the connecting hole that a plurality of is used for fixed sensor on the sensor carrying plate.
2. The data acquisition carrying bracket as set forth in claim 1, wherein: the fixing frame comprises a T-shaped frame, a first rubber band, a second rubber band and limiting rods, wherein the three ends of the T-shaped frame are respectively inserted into one limiting rod, the limiting rods are provided with rows of hooks, the limiting rods are far away from the end faces of the T-shaped frame and provided with limiting blocks, the first rubber band hooks one of the hooks of each limiting rod, and the second rubber band is sleeved on the limiting blocks of each limiting rod.
3. The data acquisition carrying bracket as set forth in claim 1, wherein: the sensor carrying plate is provided with a detachable camera carrying frame and a detachable radar carrying frame.
4. The data acquisition carrying bracket as set forth in claim 1, wherein: the handheld layer comprises two handles symmetrically arranged on two sides of the chassis layer, and finger-shaped holding positions are arranged on the inner sides of the handles.
5. The data acquisition carrying bracket as set forth in claim 4, wherein: the bottom plate layer is a storage box with an open top, and the bottom of the storage box is a smooth surface convenient for dismounting the sucker.
6. A data acquisition device characterized by: the data acquisition carrying support comprises the data acquisition carrying support as claimed in any one of claims 1 to 5, and further comprises a data acquisition unit, a data processing unit, a data integration unit and a positioning and drawing establishment unit, wherein the data acquisition unit is fixed on a sensor carrying plate of the data acquisition carrying support, and the data processing unit, the data integration unit and the positioning and drawing establishment unit are located on the fixing frame.
7. A data acquisition device according to claim 6, wherein: the data acquisition unit comprises a solid-state radar, a vision camera, an inertia measurement unit, an event camera and a laser radar, and the solid-state radar, the vision camera, the inertia measurement unit, the event camera and the laser radar are fixed on the sensor carrying plate.
8. A data acquisition device according to claim 6, wherein: the data processing unit, the data integration unit and the positioning and drawing unit are integrated in a micro server/notebook computer/single chip microcomputer.
9. A data acquisition device according to claim 8, wherein: the miniature server/notebook computer/single chip microcomputer is fixed on the fixing frame.
10. A positioning and mapping method of a data acquisition device is characterized in that: the method comprises the following steps:
s1, inputting acquired data into a micro server/notebook computer/single chip microcomputer by a visual sensor, a radar sensor and an inertia measurement unit;
s2, in the miniature server/notebook computer/single chip microcomputer, heterogeneous data feature matching is carried out on data collected by a vision sensor and data collected by a radar sensor to complete a local constraint component, and the position and pose data of a sensor group provided by an inertial measurement unit is adopted to optimize the local component; meanwhile, data collected by a vision sensor is combined with a radar sensor to perform heterogeneous point cloud registration to complete inter-frame attitude estimation, and inter-frame attitude is optimized by adopting sensor group attitude data provided by an inertial measurement unit;
and S3, completing global constraint construction based on inter-frame attitude estimation, performing global optimization on the global constraint construction by using a local constraint component, and finally constructing a generalized point cloud map.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115827938A (en) * | 2023-02-20 | 2023-03-21 | 四川省煤田测绘工程院 | Method for acquiring homeland space planning data, electronic device and computer readable medium |
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