SG11202103843YA - Positioning method and device, path determination method and device, robot and storage medium - Google Patents

Positioning method and device, path determination method and device, robot and storage medium

Info

Publication number
SG11202103843YA
SG11202103843YA SG11202103843YA SG11202103843YA SG11202103843YA SG 11202103843Y A SG11202103843Y A SG 11202103843YA SG 11202103843Y A SG11202103843Y A SG 11202103843YA SG 11202103843Y A SG11202103843Y A SG 11202103843YA SG 11202103843Y A SG11202103843Y A SG 11202103843YA
Authority
SG
Singapore
Prior art keywords
robot
storage medium
path determination
determination method
positioning method
Prior art date
Application number
SG11202103843YA
Inventor
Chunxiao Liu
Yu Liang
Jianping Shi
Haoxian Liang
Xiaohui Lin
Original Assignee
Shanghai Sensetime Intelligent Tech Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Shanghai Sensetime Intelligent Tech Co Ltd filed Critical Shanghai Sensetime Intelligent Tech Co Ltd
Publication of SG11202103843YA publication Critical patent/SG11202103843YA/en

Links

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
    • 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
    • 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
    • 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
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/16—Matrix or vector computation, e.g. matrix-matrix or matrix-vector multiplication, matrix factorization
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/25—Fusion techniques
    • G06F18/254—Fusion techniques of classification results, e.g. of results related to same input data
    • G06F18/256—Fusion techniques of classification results, e.g. of results related to same input data of results relating to different input data, e.g. multimodal recognition
    • 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
    • G06T7/97—Determining parameters from multiple pictures
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/77—Processing image or video features in feature spaces; using data integration or data reduction, e.g. principal component analysis [PCA] or independent component analysis [ICA] or self-organising maps [SOM]; Blind source separation
    • G06V10/80—Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level
    • G06V10/809—Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level of classification results, e.g. where the classifiers operate on the same input data
    • G06V10/811—Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level of classification results, e.g. where the classifiers operate on the same input data the classifiers operating on different input data, e.g. multi-modal recognition
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • 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
    • G06T2207/10—Image acquisition modality
    • G06T2207/10004—Still image; Photographic image
    • 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
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • 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
    • G06T2207/20—Special algorithmic details
    • G06T2207/20212—Image combination
    • G06T2207/20221—Image fusion; Image merging
    • 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
    • G06T2207/30241—Trajectory
    • 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
    • G06T2207/30256—Lane; Road marking

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Multimedia (AREA)
  • Remote Sensing (AREA)
  • Data Mining & Analysis (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Computing Systems (AREA)
  • Databases & Information Systems (AREA)
  • Evolutionary Computation (AREA)
  • Artificial Intelligence (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Pure & Applied Mathematics (AREA)
  • Mathematical Optimization (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Mathematical Analysis (AREA)
  • Computational Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • General Health & Medical Sciences (AREA)
  • Optics & Photonics (AREA)
  • Electromagnetism (AREA)
  • Algebra (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Bioinformatics & Computational Biology (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Evolutionary Biology (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Navigation (AREA)
  • Manipulator (AREA)
  • Traffic Control Systems (AREA)
SG11202103843YA 2019-09-26 2019-12-10 Positioning method and device, path determination method and device, robot and storage medium SG11202103843YA (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910915168.8A CN110530372B (en) 2019-09-26 2019-09-26 Positioning method, path determining device, robot and storage medium
PCT/CN2019/124412 WO2021056841A1 (en) 2019-09-26 2019-12-10 Positioning method, path determining method and apparatus, robot, and storage medium

Publications (1)

Publication Number Publication Date
SG11202103843YA true SG11202103843YA (en) 2021-05-28

Family

ID=68670274

Family Applications (1)

Application Number Title Priority Date Filing Date
SG11202103843YA SG11202103843YA (en) 2019-09-26 2019-12-10 Positioning method and device, path determination method and device, robot and storage medium

Country Status (6)

Country Link
US (1) US20210229280A1 (en)
JP (1) JP2022504728A (en)
CN (1) CN110530372B (en)
SG (1) SG11202103843YA (en)
TW (2) TW202144150A (en)
WO (1) WO2021056841A1 (en)

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* Cited by examiner, † Cited by third party
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CN110530372B (en) * 2019-09-26 2021-06-22 上海商汤智能科技有限公司 Positioning method, path determining device, robot and storage medium
CN111121805A (en) * 2019-12-11 2020-05-08 广州赛特智能科技有限公司 Local positioning correction method, device and medium based on road traffic marking marks
CN111524185A (en) * 2020-04-21 2020-08-11 上海商汤临港智能科技有限公司 Positioning method and device, electronic equipment and storage medium
CN113884093A (en) * 2020-07-02 2022-01-04 苏州艾吉威机器人有限公司 AGV mapping and positioning method, system, device and computer readable storage medium
CN114076602B (en) * 2020-08-20 2024-07-16 北京四维图新科技股份有限公司 Positioning method and positioning equipment
CN112405526A (en) * 2020-10-26 2021-02-26 北京市商汤科技开发有限公司 Robot positioning method and device, equipment and storage medium
EP4258078A4 (en) * 2021-01-13 2023-12-27 Huawei Technologies Co., Ltd. Positioning method and apparatus, and vehicle
CN112800159B (en) * 2021-01-25 2023-10-31 北京百度网讯科技有限公司 Map data processing method and device
CN113706621B (en) * 2021-10-29 2022-02-22 上海景吾智能科技有限公司 Mark point positioning and posture obtaining method and system based on marked image
CN116008991B (en) * 2022-12-12 2024-08-06 北京斯年智驾科技有限公司 Method and device for positioning vehicle under shore bridge, electronic equipment and storage medium
TWI832686B (en) * 2023-01-23 2024-02-11 國立陽明交通大學 Path planning system and path planning method thereof

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CN105674992A (en) * 2014-11-20 2016-06-15 高德软件有限公司 Navigation method and apparatus
CN105448184B (en) * 2015-11-13 2019-02-12 北京百度网讯科技有限公司 The method for drafting and device of map road
CN105783936B (en) * 2016-03-08 2019-09-24 武汉中海庭数据技术有限公司 For the road markings drawing and vehicle positioning method and system in automatic Pilot
CN107398899A (en) * 2016-05-20 2017-11-28 富泰华工业（深圳）有限公司 Wireless signal strength positioning guidance system and method
JP6535634B2 (en) * 2016-05-26 2019-06-26 本田技研工業株式会社 Route guidance apparatus and route guidance method
CN108073167A (en) * 2016-11-10 2018-05-25 深圳灵喵机器人技术有限公司 A kind of positioning and air navigation aid based on depth camera and laser radar
JP6834401B2 (en) * 2016-11-24 2021-02-24 日産自動車株式会社 Self-position estimation method and self-position estimation device
JP7016214B2 (en) * 2016-11-29 2022-02-04 アルパイン株式会社 Travelable area setting device and travelable area setting method
JP6891753B2 (en) * 2017-09-28 2021-06-18 ソニーグループ株式会社 Information processing equipment, mobile devices, and methods, and programs
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Also Published As

Publication number Publication date
CN110530372B (en) 2021-06-22
TW202144150A (en) 2021-12-01
CN110530372A (en) 2019-12-03
JP2022504728A (en) 2022-01-13
TWI742554B (en) 2021-10-11
US20210229280A1 (en) 2021-07-29
WO2021056841A1 (en) 2021-04-01
TW202112513A (en) 2021-04-01

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