CN108534789A - A kind of multipath elements of a fix unified approach, electronic equipment and readable storage medium storing program for executing - Google Patents
A kind of multipath elements of a fix unified approach, electronic equipment and readable storage medium storing program for executing Download PDFInfo
- Publication number
- CN108534789A CN108534789A CN201711455453.3A CN201711455453A CN108534789A CN 108534789 A CN108534789 A CN 108534789A CN 201711455453 A CN201711455453 A CN 201711455453A CN 108534789 A CN108534789 A CN 108534789A
- Authority
- CN
- China
- Prior art keywords
- map
- coordinate
- sample
- reference map
- positioning
- Prior art date
- Legal status (The legal status 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 status listed.)
- Granted
Links
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
- G01C21/32—Structuring or formatting of map data
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The step of multipath elements of a fix unified approach based on high in the clouds that this application discloses a kind of, this method includes：The corresponding node of physical spatial location is chosen in the sample map and reference map of same target area respectively；According to the physical spatial location corresponding node of selection, the correspondence of sample map and reference map is built, and generates mapping table；Coordinate unification is carried out to the elements of a fix in different paths based on the mapping table, obtains corresponding positioning datum coordinate.Herein described technical solution can realize the unification and mapping of different positioning figure trajectory coordinates, so that the map under arbitrary Same Scene can be mapped in the reference map of specification, to which positioning posture is more unified when providing position to robot, unmanned plane and blind guiding system, positioning is more accurate, shows more intuitive.
Description
Technical field
Figure and relative positioning field are built the present invention relates to robot in real time, and in particular to are used for a kind of based on high in the clouds
When intelligent robot or automatic driving vehicle etc. build figure in circumstances not known using multipath, the multipath elements of a fix are carried out
Unified method, electronic equipment and computer readable storage medium.
Background technology
Intelligent robot or automatic driving vehicle etc. need to build figure and positioning in real time in unknown environment to perceive
Around environment, only successfully build figure positioning could be robot navigation and others function provide safeguard.
Currently, traditional build figure and localization method for establishing map track based on cartographic information to navigate is usually root
It completes to build figure and positioning according to the cartographic information of single visual angle acquisition, the effect is unsatisfactory in actual location for this scheme,
Visual angle is single, once visual angle has offset when positioning, will position failure, therefore just have while acquiring multiple visual angles
Map establish track, the method that is positioned and navigated.But multiple visual angles will produce multiple map poses, generate more
There is the relative coordinate system of oneself in the map track of group, what is positioned using multiple visual angle maps per chart portfolio track
When may return to posture information corresponding to multiple and different map tracks, then can allow user that can not judge use
The posture information which map track returns.Furthermore build the geometric coordinate of figure and positioning there is no and actual scene physics sky
Between unite, using map when, can not recognize current location in the position in actual physics space, in these problems
Under, it is not so intuitive accurate for may result in the pose that the map of foundation returns when positioning.
Invention content
One of to solve above-mentioned technical problem, this application provides a kind of positioning map construction method, this method can be used for
Intelligent robot, on unmanned and blind person's blind guiding system positioning map creates.
According to the first aspect of the embodiment of the present application, a kind of multipath elements of a fix unified approach, feature are provided
It is, the step of this method includes：
The corresponding node of physical spatial location is chosen in the sample map and reference map of same target area respectively；
According to the physical spatial location corresponding node of selection, the correspondence of sample map and reference map is built, and raw
At mapping table；
Coordinate unification is carried out to the elements of a fix in different paths based on the mapping table, corresponding positioning datum is obtained and sits
Mark.
According to the second aspect of the embodiment of the present application, a kind of electronic equipment is additionally provided, the electronic equipment includes：It deposits
Reservoir, one or more processors；Memory is connected with processor by communication bus；Processor is configured as executing memory
In instruction；The instruction for executing each step in method as described above is stored in the storage medium.
In terms of according to the third of the embodiment of the present application, a kind of computer readable storage medium is additionally provided, is stored thereon
There is computer program, the step of which realizes method as described above when being executed by processor.
Herein described technical solution can realize the unification and mapping of different positioning figure trajectory coordinates so that arbitrary same
Map under scene can be mapped in the reference map of specification, to be provided to robot, unmanned plane and blind guiding system
Positioning posture is more unified when position, and positioning is more accurate, shows more intuitive.
Description of the drawings
Fig. 1 is the flow chart that mapping table is generated described in this programme；
Fig. 2 is the flow chart for generating reference coordinate corresponding with multigroup positioning map described in this programme based on mapping table；
Fig. 3 is the schematic diagram of elements of a fix unified approach described in this programme；
Fig. 4 is that coordinate described in this programme maps geometric graph.
Specific implementation mode
In order to make technical solution in the embodiment of the present application and advantage be more clearly understood, below in conjunction with attached drawing to the application
Exemplary embodiment be described in more detail, it is clear that described embodiment be only the application a part implement
Example, rather than the exhaustion of all embodiments.It should be noted that in the absence of conflict, the embodiment in the application and reality
The feature applied in example can be combined with each other.
The core ideas of this programme is made in the trajectory coordinates relationship maps to reference map by multiple and different positioning maps
Different coordinates can correspond to and specification, when positioning, what is no matter navigated to is the coordinate of which track,
It can be mapped on the map of a specification so that the pose of return can be showed geographically, and posture information is more
Add accurate and visual.
Embodiment 1
As shown in Figure 1, this example provides a kind of multipath elements of a fix unified approach, the step of this method, includes：
The corresponding node of physical spatial location is chosen in the sample map and reference map of same target area respectively；
According to the physical spatial location corresponding node of selection, the correspondence of sample map and reference map is built, and raw
At mapping table；
Coordinate unification is carried out to the elements of a fix in different paths based on the mapping table, corresponding positioning datum is obtained and sits
Mark.
In this example, using build figure obtain Same Scene under different visual angles geometric coordinate figure as sample map, simultaneously
It chooses the planning chart under same scene or builds figure standard drawing with high accuracy as reference map, if object may be used in indoor environment
Planning chart is managed, the electronic maps such as Gao De, Baidu may be used in outdoor environment.
In this example, when choosing physical spatial location corresponding node in sample map and reference map, at least divide
Three nodes are chosen not in sample map and reference map, convenient for the correspondence of structure sample map and reference map.
In this example, the node is that manually selection physical space institute is right in sample map and reference map
The identical point in position answered is used as node；By GPS, WIFI or visual identity mode automatically in sample map and reference map
It chooses the identical point in the position corresponding to physical space and is used as node.
In this example, the physical spatial location corresponding node according to selection builds sample map and reference map
Correspondence, and the step of generating mapping table includes：
Sample map and benchmark are obtained based on rotation translation matrix using the physical spatial location corresponding node of selection
The correspondence of figure：
Wherein, (RT) is spin matrix of the sample map relative to reference map, and F is correspondence function；
The correspondence is solved, and the coordinate of sample map and reference map is corresponded to, forms mapping
Table：
P (x, y, z)=(RT) * q (x ', y ', z ')
Wherein, p (x, y, z) is each coordinate points in sample map, each on map on the basis of q (x ', y ', z ')
A coordinate points.
In this example, two kinds of methods solved to correspondence are provided.First way is：It will be in sample map
Three-dimensional coordinate and a 3*3 matrix multiple, and project it onto x, y or z-plane obtain two-dimensional coordinate.The second way is：
According to the corresponding node of physical spatial location, corresponding track n, track n in track m and the sample map in reference map are found
On corresponding points of the coordinate points on the m of track be:
Wherein, p (x, y) is each coordinate points on the n of track, and q (x, y) is each coordinate points on the m of track, M m
On all coordinate points, N be n on all coordinate points, j indicate be coordinate points number,Round numbers.
It is described that coordinate unification is carried out to the elements of a fix in different paths based on the mapping table in this example, it is positioned
The step of reference coordinate includes：Based on the mapping table, coordinate mapping is carried out to the coordinate of multigroup positioning map, is obtained positioningly
The elements of a fix of figure corresponding coordinate points in reference map；The unified output of coordinate points that the mapping of all coordinates is obtained, obtains
The unified positioning datum coordinate of multipath.
Herein described technical solution generates mapping table by building the correspondence of sample map and reference map；
Using mapping table, the trajectory coordinates of different positioning maps are unified and mapped so that under arbitrary Same Scene positioningly
Figure can be mapped in the reference map of specification, to when providing position to robot, unmanned plane and blind guiding system
Positioning posture is more unified, and positioning is more accurate, shows more intuitive.
Embodiment 2
A kind of electronic equipment is provided in this example, the electronic equipment includes：Memory, one or more processors；
Memory is connected with processor by communication bus；Processor is configured as executing the instruction in memory；The storage medium
In be stored with instruction for executing each step in method described in embodiment 1.Electronic equipment described in this example passes through structure
The correspondence of sample map and reference map, and generate mapping table；Using mapping table, by the trajectory coordinates of different positioning maps
To be unified and is mapped so that the positioning map under arbitrary Same Scene can be mapped in the reference map of specification, thus
Positioning posture is more unified when providing position to robot, unmanned plane and blind guiding system, and positioning is more accurate, shows more
Add intuitive.
Embodiment 3
As shown in figure 3, providing a kind of computer readable storage medium in this example, it is stored thereon with computer program,
The step of method described in embodiment 1 is realized when the program is executed by processor.Scheme described in this example passes through with building sample
The correspondence of figure and reference map, and generate mapping table；Using mapping table, the trajectory coordinates of different positioning maps are united
One and mapping so that the positioning map under arbitrary Same Scene can be mapped in the reference map of specification, to machine
Positioning posture is more unified when people, unmanned plane and blind guiding system provide position, and positioning is more accurate, shows more straight
It sees.
Embodiment 4
A kind of elements of a fix unified approach for multipath positioning is provided in this example, this method is broadly divided into two
Part, first part are the establishments of relative positioning map maps relationship, and second part is to find the elements of a fix pair according to mapping table
The coordinate on reference map answered.
Specifically as shown in Figure 1, the flow chart of the establishment for relative positioning map maps relationship.
1, it needs to be determined that sample map and reference map, in this example, different visual angles under Same Scene are obtained using figure is built
Geometric coordinate figure as sample map, while choosing the planning chart under same scene or building figure standard drawing conduct with high accuracy
Reference map, if physical layout figure may be used in indoor environment, the electronic maps such as Gao De, Baidu may be used in outdoor environment.
2, at least three physical spatial locations pair are chosen in the sample map and reference map of same target area respectively
The node answered；Wherein, the node can be that physical space institute is manually chosen in sample map and reference map
Identical put in corresponding position is used as node；Can also be by GPS, WIFI or visual identity mode automatically in sample map and
The identical point in the position corresponding to physical space is chosen in reference map is used as node.
3, according to the physical spatial location corresponding node of selection, the correspondence of sample map and reference map is built, and
Generate mapping table.The step specifically includes：
According to the correspondence of physical spatial location, at least three nodes are chosen, by correspondence, obtain reference map and sample
Rotation translation matrix between figure：
Wherein, (RT) is spin matrix of the sample map relative to reference map, and F is correspondence function；
According to correspondence, the coordinate of each sample map coordinate and reference map is made to be mapped, forms mapping table：
P (x, y, z)=(RT) * q (x ', y ', z ')
Wherein, p (x, y, z) is each coordinate points in sample map, each on map on the basis of q (x ', y ', z ')
A coordinate points；(RT) it is rotation translation matrix of the sample graph relative to reference map.
As shown in Fig. 2, to find the flow chart of the coordinate on the corresponding reference map of the elements of a fix according to mapping table.
4, it is passed to multigroup positioning map and positioning map coordinate corresponding coordinate in reference map is obtained according to mapping table
Point.In this example, with the coordinate G ' (x, y, z ') in sample map, it is mapped to for the G points in reference map.If G ' is in benchmark
On the track of map, then directly searches mapping table and obtain G point coordinates, otherwise, G (x, y, z) point coordinates is：G ' (x, y, z ')=
(R·T)G(x,y,z).In this way, two kinds of corresponding G points can be obtained.
5, according to the mapping point of all generations, the coordinate of the reference map after unified output multi-channel diameter is unified.
Herein described technical solution generates mapping table by building the correspondence of sample map and reference map；
Using mapping table, the trajectory coordinates of different positioning maps are unified and mapped so that under arbitrary Same Scene positioningly
Figure can be mapped in the reference map of specification, to when providing position to robot, unmanned plane and blind guiding system
Positioning posture is more unified, and positioning is more accurate, shows more intuitive.
Embodiment 5
As shown in figure 3, this example is for unmanned, the smart machines such as blind person's blind guiding system build figure positioning when
It waits, establishes the relative positioning map of multipath, to the stream for the elements of a fix unified approach that these multipath elements of a fix carry out
Cheng Tu.This method can be used for it is unmanned, the two-dimensional phases of the intelligent terminals such as blind person's blind guiding system to the mappings of the elements of a fix and
Unified, two-dimensional coordinate can be according to three-dimensional coordinate Mapping and Converting.
1, the geometric coordinate figure that figure obtains different visual angles under Same Scene is built, as sample map, while choosing identical field
Planning chart under scape builds figure standard drawing with high accuracy as reference map；
2, the corresponding node of physical spatial location is chosen on the track of sample map and reference map；Preferably, respectively
Three nodes are at least selected in sample map and reference map.
3, the coordinate in sample map and reference map node is mapped, establishes correspondence, generate mapping table；
Correspondence can be solved by two ways in this example, the first scheme is according to three-dimensional coordinate
Figure mapping acquires two-dimensional coordinate, and second is that direct two-dimensional coordinate of choosing establishes mapping relations.
Scheme one：Three-dimensional coordinate is directly multiplied with a 3*3 matrixes R ', x, y or z-plane is projected it onto, to obtain
Two-dimensional coordinate is converted to two-dimensional coordinate according to the mapping table in three-dimensional coordinate and can be obtained mapping relations.
Scheme two：
According to the correspondence of physical spatial location, by the node of selection, find in track m and the sample map on reference map
Corresponding track n, then corresponding points of the coordinate points on n on m be:
Wherein, p (x, y) is each coordinate points on n, and q (x, y) is each coordinate points on m, and M is all on m
Coordinate points, N are all coordinate points on n, and what j was indicated is the number of coordinate points,Round numbers.According to this formula, sample is preserved
Point and corresponding datum mark, just can obtain the mapping table of sample graph and reference map
4, it is passed to multigroup positioning map, according to mapping table, generates positioning map coordinate corresponding coordinate in reference map
Point；As shown in figure 4, the left side is reference map in figure, the right is sample map, needs to reflect the elements of a fix point in sample map
It is mapped in reference map, generates the coordinate corresponding to reference map.Specifically, with the coordinate G ' (x ', y ') in sample map, reflect
It is mapped to for the G points in reference map：
A, the side of the point A ' (x1 ', y1 ') and B ' (x2 ', y2 ') line correspondences L on former and later two nearest tracks of G ' are obtained
Journey；
B, according to mapping table, the corresponding point A (x1, y1) of A ' (x1 ', y1 ') and B ' (x2 ', y2 ') and B (x2, y2) are found
Coordinate；
C, AB, the length of AG, BG, AB=A ' B '=b, AG=A ' G '=c, BG=B ' G '=a are calculated；
Then G (x, y) point coordinates is：
Direction solves mode：
The course angle of BG and B ' G ' are found out according to B, G, B ', G '
The direction of G ' is：
WhereinValue be G points direction.
In this way, two corresponding G points can be obtained, at this point, according to the difference-product phase of the difference-product of AG and BG and A ' G ' and B ' G '
Deng casting out the opposite point in direction, the coordinate of the point G as finally got.
5, according to the mapping point of generation, the coordinate of the reference map under unified output multi-channel diameter is unified.
Can be when multipath position using this programme, it will not be because of the coordinate disunity of output, not intuitively, to making
User causes the chaotic unclear problem of the elements of a fix.By that will utilize multipath elements of a fix when more positioning maps are unified to map
It onto reference map, can not only get up with actual physics space relationship, while also allow defining of being more clear of positioning user
The elements of a fix.
In conclusion correspondence of the herein described technical solution by structure sample map and reference map, and it is raw
At mapping table；Using mapping table, the trajectory coordinates of different positioning maps are unified and mapped so that under arbitrary Same Scene
Positioning map can be mapped in the reference map of specification, to giving robot, unmanned plane and blind guiding system provide position
Positioning posture is more unified when setting, and positioning is more accurate, shows more intuitive.
It should be understood by those skilled in the art that, embodiments herein can be provided as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the application
Apply the form of example.Moreover, the application can be used in one or more wherein include computer usable program code computer
The computer program production implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The application is with reference to method, the flow of equipment (system) and computer program product according to the embodiment of the present application
Figure and/or block diagram describe.It should be understood that can be realized by computer program instructions every first-class in flowchart and/or the block diagram
The combination of flow and/or box in journey and/or box and flowchart and/or the block diagram.These computer programs can be provided
Instruct the processor of all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine so that the instruction executed by computer or the processor of other programmable data processing devices is generated for real
The device for the function of being specified in present one flow of flow chart or one box of multiple flows and/or block diagram or multiple boxes.
These computer program instructions, which may also be stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that instruction generation stored in the computer readable memory includes referring to
Enable the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one box of block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device so that count
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, in computer or
The instruction executed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in a box or multiple boxes.
It these are only the embodiment of the present invention, be not intended to restrict the invention, it is all in the spirit and principles in the present invention
Within, any modification, equivalent substitution, improvement and etc. done, be all contained in apply pending scope of the presently claimed invention it
It is interior.
Claims (10)
1. a kind of multipath elements of a fix unified approach, which is characterized in that the step of this method includes：
The corresponding node of physical spatial location is chosen in the sample map and reference map of same target area respectively；
According to the physical spatial location corresponding node of selection, the correspondence of sample map and reference map is built, and generate and reflect
Firing table；
Coordinate unification is carried out to the elements of a fix in different paths based on the mapping table, obtains corresponding positioning datum coordinate.
2. construction method according to claim 1, which is characterized in that the sample map includes：In same target area
The geometric coordinate figure of different visual angles；And/or
The reference map is planning map or the standard map of target area.
3. construction method according to claim 1, which is characterized in that described respectively in the sample map of same target area
In the step of node corresponding with physical spatial location is chosen in reference map, at least selected in sample map and reference map
Take three nodes.
4. construction method according to claim 1 or 3, which is characterized in that the node is manually in sample
The identical point in the position corresponding to physical space is chosen on map and reference map is used as node；Or,
It is chosen corresponding to physical space in sample map and reference map automatically by GPS, WIFI or visual identity mode
The identical point in position is used as node.
5. construction method according to claim 1, which is characterized in that the physical spatial location corresponding node according to selection,
The correspondence of sample map and reference map is built, and the step of generating mapping table includes：
Using the physical spatial location corresponding node of selection, based on rotation translation matrix, sample map and reference map are obtained
Correspondence：
Wherein, (RT) is spin matrix of the sample map relative to reference map, and F is correspondence function；
The correspondence is solved, and the coordinate of sample map and reference map is corresponded to, forms mapping table：
P (x, y, z)=(RT) * q (x ', y ', z ')
Wherein, p (x, y, z) is each coordinate points in sample map, each seat on the basis of q (x ', y ', z ') on map
Punctuate.
6. construction method according to claim 5, which is characterized in that described the step of being solved to the correspondence wraps
It includes：
By the three-dimensional coordinate and a 3*3 matrix multiple in sample map, and x is projected it onto, y or z-plane obtain two dimension and sit
Mark.
7. construction method according to claim 5, which is characterized in that described the step of being solved to the correspondence
Including：
According to the corresponding node of physical spatial location, corresponding track n in track m and the sample map in reference map is found,
Corresponding points of the coordinate points on the m of track on the n of track are:
Wherein, p (x, y) is each coordinate points on the n of track, and q (x, y) is each coordinate points on the m of track, and M is on m
All coordinate points, N are all coordinate points on n, and what j was indicated is the number of coordinate points,Round numbers.
8. construction method according to claim 1, which is characterized in that described to be determined different paths based on the mapping table
Position coordinate carry out coordinate unification, obtain positioning datum coordinate the step of include：
Based on the mapping table, coordinate mapping is carried out to the coordinate of multigroup positioning map, the elements of a fix for obtaining positioning map exist
Corresponding coordinate points in reference map；
The unified output of coordinate points that the mapping of all coordinates is obtained, obtains the unified positioning datum coordinate of multipath.
9. a kind of electronic equipment, which is characterized in that the electronic equipment includes：Memory, one or more processors；Memory
It is connected by communication bus with processor；Processor is configured as executing the instruction in memory；It is stored in the storage medium
It is useful for the instruction that perform claim requires each step in 1 to 8 any one the method.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
The step of any one of claim 1 to 8 the method is realized when execution.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711455453.3A CN108534789B (en) | 2017-12-27 | 2017-12-27 | Multipath positioning coordinate unifying method, electronic equipment and readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711455453.3A CN108534789B (en) | 2017-12-27 | 2017-12-27 | Multipath positioning coordinate unifying method, electronic equipment and readable storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108534789A true CN108534789A (en) | 2018-09-14 |
| CN108534789B CN108534789B (en) | 2021-01-15 |
Family
ID=63489847
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711455453.3A Active CN108534789B (en) | 2017-12-27 | 2017-12-27 | Multipath positioning coordinate unifying method, electronic equipment and readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108534789B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112136021A (en) * | 2018-12-29 | 2020-12-25 | 北京嘀嘀无限科技发展有限公司 | System and method for constructing landmark-based high-definition map |
| CN112162559A (en) * | 2020-09-30 | 2021-01-01 | 杭州海康机器人技术有限公司 | Method, device and storage medium for multi-robot mixing |
| CN112284401A (en) * | 2020-10-12 | 2021-01-29 | 广州小鹏自动驾驶科技有限公司 | Data processing method and device |
| CN112781580A (en) * | 2019-11-06 | 2021-05-11 | 佛山市云米电器科技有限公司 | Positioning method of household equipment, intelligent household equipment and storage medium |
| CN113535728A (en) * | 2021-07-21 | 2021-10-22 | 山东新一代信息产业技术研究院有限公司 | Robot indoor and outdoor universal map storage modeling method and electronic device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101251592A (en) * | 2008-03-31 | 2008-08-27 | 中国科学院计算技术研究所 | Method for locating node of wireless sensor network |
| CN103123727A (en) * | 2011-11-21 | 2013-05-29 | 联想(北京)有限公司 | Method and device for simultaneous positioning and map building |
| WO2016157428A1 (en) * | 2015-03-31 | 2016-10-06 | パイオニア株式会社 | Measurement device, measurement method, and program |
| CN106272423A (en) * | 2016-08-31 | 2017-01-04 | 哈尔滨工业大学深圳研究生院 | A kind of multirobot for large scale environment works in coordination with the method for drawing and location |
| CN107328420A (en) * | 2017-08-18 | 2017-11-07 | 上海木爷机器人技术有限公司 | Localization method and device |
| CN107438752A (en) * | 2016-12-23 | 2017-12-05 | 深圳前海达闼云端智能科技有限公司 | Localization method, terminal and server |
-
2017
- 2017-12-27 CN CN201711455453.3A patent/CN108534789B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101251592A (en) * | 2008-03-31 | 2008-08-27 | 中国科学院计算技术研究所 | Method for locating node of wireless sensor network |
| CN103123727A (en) * | 2011-11-21 | 2013-05-29 | 联想(北京)有限公司 | Method and device for simultaneous positioning and map building |
| WO2016157428A1 (en) * | 2015-03-31 | 2016-10-06 | パイオニア株式会社 | Measurement device, measurement method, and program |
| CN106272423A (en) * | 2016-08-31 | 2017-01-04 | 哈尔滨工业大学深圳研究生院 | A kind of multirobot for large scale environment works in coordination with the method for drawing and location |
| CN107438752A (en) * | 2016-12-23 | 2017-12-05 | 深圳前海达闼云端智能科技有限公司 | Localization method, terminal and server |
| CN107328420A (en) * | 2017-08-18 | 2017-11-07 | 上海木爷机器人技术有限公司 | Localization method and device |
Non-Patent Citations (3)
| Title |
|---|
| SHAOWU YANGSEBASTIAN A. SCHERERXIAODONG YIANDREAS ZELL: "Multi-camera visual SLAM for autonomous navigation of micro aerial vehicles", 《ROBOTICS AND AUTONOMOUS SYSTEMS》 * |
| 楚圣辉等: "大场景下多目立体视觉标定方法的研究", 《现代计算机》 * |
| 苑全德: "基于视觉的多机器人协作SLAM研究", 《中国博士学位论文全文数据库 信息科技辑》 * |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112136021A (en) * | 2018-12-29 | 2020-12-25 | 北京嘀嘀无限科技发展有限公司 | System and method for constructing landmark-based high-definition map |
| CN112781580A (en) * | 2019-11-06 | 2021-05-11 | 佛山市云米电器科技有限公司 | Positioning method of household equipment, intelligent household equipment and storage medium |
| CN112781580B (en) * | 2019-11-06 | 2024-04-26 | 佛山市云米电器科技有限公司 | Positioning method of home equipment, intelligent home equipment and storage medium |
| CN112162559A (en) * | 2020-09-30 | 2021-01-01 | 杭州海康机器人技术有限公司 | Method, device and storage medium for multi-robot mixing |
| CN112162559B (en) * | 2020-09-30 | 2021-10-15 | 杭州海康机器人技术有限公司 | Method, device and storage medium for multi-robot mixing |
| WO2022068926A1 (en) * | 2020-09-30 | 2022-04-07 | 杭州海康机器人技术有限公司 | Method and apparatus for realizing simultaneous movement of multiple robots, and storage medium |
| CN112284401A (en) * | 2020-10-12 | 2021-01-29 | 广州小鹏自动驾驶科技有限公司 | Data processing method and device |
| CN112284401B (en) * | 2020-10-12 | 2022-10-14 | 广州小鹏自动驾驶科技有限公司 | Data processing method and device |
| CN113535728A (en) * | 2021-07-21 | 2021-10-22 | 山东新一代信息产业技术研究院有限公司 | Robot indoor and outdoor universal map storage modeling method and electronic device |
| CN113535728B (en) * | 2021-07-21 | 2024-03-08 | 山东新一代信息产业技术研究院有限公司 | Map storage modeling method and electronic device for indoor and outdoor general use of robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108534789B (en) | 2021-01-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108534789A (en) | A kind of multipath elements of a fix unified approach, electronic equipment and readable storage medium storing program for executing | |
| CN105786822B (en) | Search space object and the method and device for establishing spatial index in electronic map | |
| CN106679669B (en) | A kind of method for planning path for mobile robot and system | |
| CN108401461A (en) | Three-dimensional mapping method, device and system, cloud platform, electronic equipment and computer program product | |
| CN108230247B (en) | Generation method, device, equipment and the computer-readable storage medium of three-dimensional map based on cloud | |
| CN109540142A (en) | A kind of method, apparatus of robot localization navigation calculates equipment | |
| CN108337915A (en) | Three-dimensional builds drawing method, device, system, high in the clouds platform, electronic equipment and computer program product | |
| CN109737974A (en) | A kind of 3D navigational semantic map updating method, device and equipment | |
| Zollmann et al. | Flyar: Augmented reality supported micro aerial vehicle navigation | |
| CN108827249A (en) | A kind of map constructing method and device | |
| CN110163903A (en) | The acquisition of 3-D image and image position method, device, equipment and storage medium | |
| CN106304842A (en) | For location and the augmented reality system and method for map building | |
| CN105300392B (en) | Methods, devices and systems for showing planning path in streetscape map | |
| CN104899920A (en) | Image processing method, image processing device and electronic device | |
| CN110176032A (en) | A kind of three-dimensional rebuilding method and device | |
| CN103065348A (en) | Two-dimension animation automatic generating method based on skeleton motion database | |
| CN105844631A (en) | Method and device for positioning object | |
| CN104897160A (en) | Method and device for manufacturing indoor map and positioning | |
| CN104504753A (en) | Internet three-dimensional IP (internet protocol) map system and method based on augmented reality | |
| KR102454161B1 (en) | Method and apparatus for processing omnidirectional image | |
| WO2021027967A1 (en) | Route determination method, travelable equipment, and storage medium | |
| CN109709977A (en) | The method, apparatus and mobile object of motion track planning | |
| CN105095314A (en) | Point of interest (POI) marking method, terminal, navigation server and navigation system | |
| CN106931978B (en) | Indoor map generation method for automatically constructing road network | |
| CN106294484A (en) | A kind of method and device updating electronic map data |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |