CN108873908B - 基于视觉slam和网络地图结合的机器人城市导航*** - Google Patents
基于视觉slam和网络地图结合的机器人城市导航*** Download PDFInfo
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- CN108873908B CN108873908B CN201810764916.2A CN201810764916A CN108873908B CN 108873908 B CN108873908 B CN 108873908B CN 201810764916 A CN201810764916 A CN 201810764916A CN 108873908 B CN108873908 B CN 108873908B
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- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- 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
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- 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
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CN201810764916.2A CN108873908B (zh) | 2018-07-12 | 2018-07-12 | 基于视觉slam和网络地图结合的机器人城市导航*** |
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Families Citing this family (19)
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CN109375211B (zh) * | 2018-12-10 | 2023-03-10 | 西安电子科技大学 | 基于雷达和多光学设备的可移动无人平台目标搜索方法 |
CN109782766B (zh) * | 2019-01-25 | 2023-01-03 | 北京百度网讯科技有限公司 | 用于控制车辆行驶的方法和装置 |
CN109782768A (zh) * | 2019-01-26 | 2019-05-21 | 哈尔滨玄智科技有限公司 | 一种适配于内行星式复合轮系搬运机器人的自主导航*** |
CN111489393B (zh) * | 2019-01-28 | 2023-06-02 | 速感科技(北京)有限公司 | Vslam方法、控制器和可移动设备 |
CN109828588A (zh) * | 2019-03-11 | 2019-05-31 | 浙江工业大学 | 一种基于多传感器融合的机器人室内路径规划方法 |
CN111735433B (zh) * | 2019-03-25 | 2022-05-20 | 杭州海康威视数字技术股份有限公司 | 建立二维地图的方法和装置 |
CN110083158B (zh) * | 2019-04-28 | 2022-08-16 | 深兰科技(上海)有限公司 | 一种确定局部规划路径的方法和设备 |
CN110260857A (zh) * | 2019-07-02 | 2019-09-20 | 北京百度网讯科技有限公司 | 视觉地图的校准方法、装置及存储介质 |
CN110220517A (zh) * | 2019-07-08 | 2019-09-10 | 紫光云技术有限公司 | 一种结合环境语意的室内机器人鲁棒slam方法 |
CN111369688B (zh) * | 2020-03-11 | 2023-05-09 | 暗物智能科技(广州)有限公司 | 一种结构化场景表达的认知导航方法及*** |
CN111429791B (zh) * | 2020-04-09 | 2022-11-18 | 浙江大华技术股份有限公司 | 身份确定方法、装置、存储介质及电子装置 |
CN115666738A (zh) * | 2020-06-30 | 2023-01-31 | 西门子股份公司 | 一种灭火***、服务器、消防机器人和灭火方法 |
CN111762049A (zh) * | 2020-07-01 | 2020-10-13 | 国网智能科技股份有限公司 | 一种共享电动汽车自感应动态控制方法及*** |
CN112629528A (zh) * | 2020-11-28 | 2021-04-09 | 北京瞪羚云智科技有限公司 | 利用视觉相机实现四足机器人定位导航***及其工作方法 |
CN112998606B (zh) * | 2021-03-01 | 2022-04-22 | 深圳市无限动力发展有限公司 | 智能设备与清洁机的协作清扫方法、装置和计算机设备 |
CN113110466B (zh) * | 2021-04-22 | 2021-12-21 | 深圳市井智高科机器人有限公司 | 一种用于agv机器人的高灵敏度避障***及方法 |
CN113408784B (zh) * | 2021-05-18 | 2024-01-12 | 华中科技大学 | 多机器人移载协同装配方法及设备 |
CN113820697B (zh) * | 2021-09-09 | 2024-03-26 | 中国电子科技集团公司第五十四研究所 | 一种基于城市建筑特征与三维地图的视觉定位方法 |
CN114137955B (zh) * | 2021-10-26 | 2023-04-28 | 中国人民解放军军事科学院国防科技创新研究院 | 基于改进市场法的多机器人快速协同建图方法 |
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CN103413313A (zh) * | 2013-08-19 | 2013-11-27 | 国家电网公司 | 基于电力机器人的双目视觉导航***及方法 |
CN107167139A (zh) * | 2017-05-24 | 2017-09-15 | 广东工业大学 | 一种变电站巡检机器人视觉定位导航方法及*** |
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JP2009026177A (ja) * | 2007-07-23 | 2009-02-05 | Clarion Co Ltd | 表示制御装置、表示制御方法および制御プログラム |
US8473187B2 (en) * | 2009-06-01 | 2013-06-25 | Robert Bosch Gmbh | Method and apparatus for combining three-dimensional position and two-dimensional intensity mapping for localization |
WO2012053030A1 (ja) * | 2010-10-19 | 2012-04-26 | 三菱電機株式会社 | 3次元立体表示装置 |
CN103885443B (zh) * | 2012-12-20 | 2017-02-08 | 联想(北京)有限公司 | 用于即时定位与地图构建单元的设备、***和方法 |
CN103389104B (zh) * | 2013-07-17 | 2015-12-02 | 北京龙图通信息技术有限公司 | 一种与二维导航同步的三维方向性导航方法及其装置 |
CN103926927A (zh) * | 2014-05-05 | 2014-07-16 | 重庆大学 | 一种室内移动机器人双目视觉定位与三维建图方法 |
JP6559535B2 (ja) * | 2015-10-22 | 2019-08-14 | 株式会社東芝 | 障害物マップ生成装置、その方法、及び、そのプログラム |
CN105843223B (zh) * | 2016-03-23 | 2018-11-20 | 东南大学 | 一种基于空间词袋模型的移动机器人三维建图与避障方法 |
CN107402569B (zh) * | 2016-05-19 | 2020-01-21 | 科沃斯机器人股份有限公司 | 自移动机器人及地图构建方法、组合机器人地图调用方法 |
CN106767853B (zh) * | 2016-12-30 | 2020-01-21 | 中国科学院合肥物质科学研究院 | 一种基于多信息融合的无人驾驶车辆高精度定位方法 |
CN107063256A (zh) * | 2017-01-23 | 2017-08-18 | 斑马信息科技有限公司 | 汽车同步建图与定位方法 |
CN107203214B (zh) * | 2017-07-31 | 2018-03-27 | 中南大学 | 一种运载机器人复杂混合路径协同自适应智能规划方法 |
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CN103413313A (zh) * | 2013-08-19 | 2013-11-27 | 国家电网公司 | 基于电力机器人的双目视觉导航***及方法 |
CN107167139A (zh) * | 2017-05-24 | 2017-09-15 | 广东工业大学 | 一种变电站巡检机器人视觉定位导航方法及*** |
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Denomination of invention: Robot City navigation system based on visual slam and network map Effective date of registration: 20210618 Granted publication date: 20200124 Pledgee: China Minsheng Banking Corp Chongqing branch Pledgor: Chongqing QiTeng Technology Co.,Ltd. Registration number: Y2021500000023 |
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Address after: 401120 No.1-4, 16th floor, no.6, Yangliu North Road, Yubei District, Chongqing Patentee after: Seven Teng Robot Co.,Ltd. Address before: 401120 No.1-4, 16th floor, no.6, Yangliu North Road, Yubei District, Chongqing Patentee before: Chongqing QiTeng Technology Co.,Ltd. |
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Denomination of invention: A Robot City Navigation System Based on the Combination of Visual SLAM and Network Map Effective date of registration: 20231019 Granted publication date: 20200124 Pledgee: Chongqing Yuzhong Sub branch of China Construction Bank Corp. Pledgor: Seven Teng Robot Co.,Ltd. Registration number: Y2023980061902 |
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