WO2019154444A3 - 建图方法、图像采集和处理系统和定位方法 - Google Patents

建图方法、图像采集和处理系统和定位方法 Download PDF

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Publication number
WO2019154444A3
WO2019154444A3 PCT/CN2019/084185 CN2019084185W WO2019154444A3 WO 2019154444 A3 WO2019154444 A3 WO 2019154444A3 CN 2019084185 W CN2019084185 W CN 2019084185W WO 2019154444 A3 WO2019154444 A3 WO 2019154444A3
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WO
WIPO (PCT)
Prior art keywords
pattern
processing system
image acquisition
texture pattern
positioning method
Prior art date
Application number
PCT/CN2019/084185
Other languages
English (en)
French (fr)
Other versions
WO2019154444A2 (zh
Inventor
孙宇
罗磊
周韬宇
肖尚华
Original Assignee
上海快仓智能科技有限公司
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
Priority claimed from CN201811475564.5A external-priority patent/CN110006420B/zh
Application filed by 上海快仓智能科技有限公司 filed Critical 上海快仓智能科技有限公司
Priority to JP2019531456A priority Critical patent/JP7083472B2/ja
Publication of WO2019154444A2 publication Critical patent/WO2019154444A2/zh
Publication of WO2019154444A3 publication Critical patent/WO2019154444A3/zh

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Classifications

    • 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
    • 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

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)
  • Length Measuring Devices By Optical Means (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Image Processing (AREA)

Abstract

本发明涉及一种用于形成纹理图案的方法，包括：选择一花纹图案；对所述花纹图案进行聚类分割；将聚类分割后的所述花纹图案转换为所述纹理图案。例如可以通过荧光材料来将纹理图案施加到目标表面上。通过本发明的实施例，能够提高地面纹理图案的适应性，方便自动引导车进行导航，建立智能仓库。
PCT/CN2019/084185 2018-05-31 2019-04-25 建图方法、图像采集和处理系统和定位方法 WO2019154444A2 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2019531456A JP7083472B2 (ja) 2018-05-31 2019-04-25 地図構築方法、画像収集処理システムと測位方法

Applications Claiming Priority (10)

Application Number Priority Date Filing Date Title
CN201820865300.X 2018-05-31
CN201810551792 2018-05-31
CN201820865300 2018-05-31
CN201810551792.X 2018-05-31
CN201811475564.5 2018-12-04
CN201822023605.9 2018-12-04
CN201811475564.5A CN110006420B (zh) 2018-05-31 2018-12-04 建图方法、图像采集和处理系统和定位方法
CN201822023605.9U CN211668521U (zh) 2018-05-31 2018-12-04 用于图像采集的自动引导车、以及图像采集和处理系统
CN201910303482.0 2019-04-16
CN201910303482.0A CN110189331B (zh) 2018-05-31 2019-04-16 建图方法、图像采集和处理系统和定位方法

Publications (2)

Publication Number Publication Date
WO2019154444A2 WO2019154444A2 (zh) 2019-08-15
WO2019154444A3 true WO2019154444A3 (zh) 2019-10-03

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WO (1) WO2019154444A2 (zh)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001134318A (ja) * 1999-11-05 2001-05-18 Murata Mach Ltd 無人搬送車システム
CN101354441A (zh) * 2008-09-11 2009-01-28 上海交通大学 全天候运行的移动机器人定位系统
CN101566471A (zh) * 2007-01-18 2009-10-28 上海交通大学 基于地面纹理的智能车视觉全局定位方法
CN101639345A (zh) * 2009-08-03 2010-02-03 塔米智能科技（北京）有限公司 一种室内定位方法
CN104732545A (zh) * 2015-04-02 2015-06-24 西安电子科技大学 结合稀疏近邻传播和快速谱聚类的纹理图像分割方法
CN106996777A (zh) * 2017-04-21 2017-08-01 合肥井松自动化科技有限公司 一种基于地面图像纹理的视觉导航方法
CN107481287A (zh) * 2017-07-13 2017-12-15 中国科学院空间应用工程与技术中心 一种基于多标识的物体定位定姿方法及系统
US20180107218A1 (en) * 2015-08-17 2018-04-19 X Development Llc Ground Plane Detection to Verify Depth Sensor Status for Robot Navigation

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001134318A (ja) * 1999-11-05 2001-05-18 Murata Mach Ltd 無人搬送車システム
CN101566471A (zh) * 2007-01-18 2009-10-28 上海交通大学 基于地面纹理的智能车视觉全局定位方法
CN101354441A (zh) * 2008-09-11 2009-01-28 上海交通大学 全天候运行的移动机器人定位系统
CN101639345A (zh) * 2009-08-03 2010-02-03 塔米智能科技（北京）有限公司 一种室内定位方法
CN104732545A (zh) * 2015-04-02 2015-06-24 西安电子科技大学 结合稀疏近邻传播和快速谱聚类的纹理图像分割方法
US20180107218A1 (en) * 2015-08-17 2018-04-19 X Development Llc Ground Plane Detection to Verify Depth Sensor Status for Robot Navigation
CN106996777A (zh) * 2017-04-21 2017-08-01 合肥井松自动化科技有限公司 一种基于地面图像纹理的视觉导航方法
CN107481287A (zh) * 2017-07-13 2017-12-15 中国科学院空间应用工程与技术中心 一种基于多标识的物体定位定姿方法及系统

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