CN108919811A - A kind of indoor mobile robot SLAM method based on tag label - Google Patents
A kind of indoor mobile robot SLAM method based on tag label Download PDFInfo
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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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
-
- 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
- G05D1/0251—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 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
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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
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
-
- 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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- 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)
- Computer Vision & Pattern Recognition (AREA)
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- Electromagnetism (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of indoor mobile robot SLAM method based on tag label, is related to mobile robot visual SLAM technical field.This method pastes tag label indoors first, then selectes a starting point indoors and makes robot mobile, and with the position and attitude information of IMU calculating robot；Pass through the camera collection image in robot simultaneously and be transferred to processor, identification tag label is carried out by processor；Calculate the position and attitude information of tag said tag and label；Finally the position and attitude information of labels all in region is recorded, draws the three-dimensional map and robot movement routine of label, completes SLAM.Indoor mobile robot SLAM method provided by the invention based on tag label, it is not only at low cost, it is easy to operate, and also the discrimination of label is high, and label pose is accurately calculated.Meanwhile position of mobile robot can accurately be estimated, and can resist in robot moving process and quickly move and continually changing illumination condition.
Description
Technical field
The present invention relates to mobile robot visual SLAM technical field more particularly to a kind of indoor shiftings based on tag label
Mobile robot SLAM method.
Background technique
Tag label is a kind of mark similar to two dimensional code that can easily store information, and it is fixed to realize with tag label
Position has been widely used in robot, unmanned plane positions guiding, in Multi-Agent Cooperation, indoor positioning.It can calculate phase
For accurate three-dimensional position, direction and the tag ID of the tag label of camera.The main flow of algorithm is as follows：Input is camera shooting
The color image containing two-dimension code label of head shooting, is filtered image, and the processing such as denoising calculates the big of the gradient of pixel
Small and direction, with the method for cluster by pixel classifications, with weighted least-squares method, by the Pixel fit after cluster at line
Section, is attached edge line and judges whether a group quadrangularly circuit, tag label is judged whether it is in the quadrangle of composition,
If so, carrying out identification tag ID calculates label position and posture.
SLAM (simultaneous localization and mapping, i.e. synchronous superposition) refers to
From the unknown place of circumstances not known, the map feature arrived during the motion by repeated measures positions itself for robot
Position and posture, further according to the building map of self-position increment type, to achieve the purpose that while position and map structuring.With
SLAM research deepen continuously, so that three-dimensional reconstruction is become the upsurge of robot research field.SLAM common method has laser
SLAM, expensive, power consumption is big although laser sensor precision is high, investigative range is wide, it is relatively inconvenient to use.It removes
Except secondary SLAM can also be carried out with monocular camera, binocular camera and RGB-D camera.Monocular camera can not directly acquire image
Depth information must carry out larger although binocular camera and RGB-D camera can directly obtain depth information in Feature Points Matching
Calculating, while the matching of characteristic point is also to be easy to there are error, causes the inaccurate of result.
Summary of the invention
In view of the drawbacks of the prior art, the present invention provides a kind of indoor mobile robot SLAM method based on tag label,
It realizes to indoor mobile robot synchronous superposition.
A kind of indoor mobile robot SLAM method based on tag label, includes the following steps：
Step 1 pastes tag label on wall indoors；
The tag tag size of the stickup is identical, it can be shown that doors structure；
Step 2, selected indoor arbitrary point are that starting point controls robot in the indoor moving for posting tag label, and passes through and take the photograph
As head detection tag label, calculates label position and posture and store, while passing through IMU (Inertial measurement
Unit, i.e. Inertial Measurement Unit) calculating robot position；
The robot includes monocular cam, the sensor including IMU, and the processor equipped with ROS operating system；
The specific method by IMU calculating robot position is：
When robot camera detection is to tag label, in conjunction with tag label and IMU determine jointly robot position and
Posture；
When robot camera can not detect tag label, position and the posture of robot are determined by IMU；
The camera detection tag label, calculates label position and posture and the specific method stored is：
Step 2.1 demarcates camera with gridiron pattern method, and acquisition includes the focal length of camera, radial distortion parameter
Internal reference inside；
Step 2.2 sets camera identification scale according to tag tag size；
Step 2.3, the video flowing obtained according to camera detect the Tag in identification image using image processing algorithm and mark
Will；
Step 2.3.1, the gradient magnitude and gradient direction of each pixel in image are calculated；
Step 2.3.2, using the method based on figure, the pixel with gradient-like direction and size is clustered；
Step 2.3.3, using weighted least-squares method, by the Pixel fit after cluster at line segment, and whether line segment is detected
Constitute four
Side shape；
Step 2.3.4, detect whether the quadrilateral area is tag mark if the line segment of fitting can constitute quadrangle
Label, and know
Not corresponding tag label；
The scale of step 2.4, the camera that basis has determined and tag label calculates position and the posture of tag label；
Step 3 judges whether robot returns to starting point, if not provided, robot continues mobile detection tag mark indoors
Label complete the detection to indoor all tag labels, by robot motion track and tag label position if returning to starting point
It is plotted on three-dimensional map.
As shown from the above technical solution, the beneficial effects of the present invention are：It is provided by the invention a kind of based on tag label
Indoor mobile robot SLAM method, it is not only at low cost during tag label is used in mobile robot SLAM, it is easy to operate,
And the discrimination of label is high, and label pose is accurately calculated.It, can be right simultaneously by the data of fusion tag label and IMU
Position of mobile robot is accurately estimated, and can be resisted in robot moving process and quickly be moved and continually changing light
According to condition.
Detailed description of the invention
Fig. 1 is a kind of process of the indoor mobile robot SLAM method based on tag label provided in an embodiment of the present invention
Figure；
Fig. 2 is schematic diagram of the robot provided in an embodiment of the present invention in the indoor moving for being pasted with tag label；
Fig. 3 is the Apriltag label schematic diagram of TAG36H11 family provided in an embodiment of the present invention.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Implement below
Example is not intended to limit the scope of the invention for illustrating the present invention.
A kind of indoor mobile robot SLAM method based on tag label, as shown in Figure 1, including the following steps：
Step 1 pastes tag label on wall indoors；
The tag tag size of stickup is identical, it can be shown that doors structure；
The Apriltag label that size as shown in Figure 2 is 20cm*20cm is pasted in the present embodiment, on indoor wall, and
Make label height in 1m or so as far as possible, guarantees that camera can clearly take label, secondly, making all labels as far as possible
The global shape in room is depicted.
Step 2, selected indoor arbitrary point are that starting point controls robot in the indoor shifting for posting tag label as shown in Figure 3
It is dynamic, and by camera detection tag label, it calculates label position and posture and stores, while by where IMU calculating robot
Position；
Robot includes monocular cam, the sensor including IMU, and the processor equipped with ROS operating system；
In this example, the mobile robot used is turtulebot2, and processor is the connection equipped with linux system and ROS
Think G510 laptop；The front camera that camera uses laptop to carry；IMU uses Xsens MTI-300 type
Number；Control robot is mobile for convenience simultaneously, is controlled using the Wireless Keyboard of model MK275 robot.
Specific method by IMU calculating robot position is：
When robot camera detection is to tag label, in conjunction with tag label and IMU determine jointly robot position and
Posture；
When robot camera can not detect tag label, position and the posture of robot are determined by IMU；
Camera detection tag label, calculates label position and posture and the specific method stored is：
Step 2.1 demarcates camera with gridiron pattern method, and acquisition includes the focal length of camera, radial distortion parameter
Internal reference inside；
Step 2.2 sets camera identification scale according to tag tag size；
In the present embodiment, using the identification of the Apriltag label setting camera of 20cm*20cm size as shown in Figure 2
Scale.
Step 2.3, the video flowing obtained according to camera detect the Tag in identification image using image processing algorithm and mark
Will；
Step 2.3.1, the gradient magnitude and gradient direction of each pixel in image are calculated；
Step 2.3.2, using the method based on figure, the pixel with gradient-like direction and size is clustered；
Step 2.3.3, using weighted least-squares method, by the Pixel fit after cluster at line segment, and whether line segment is detected
Constitute four
Side shape；
Step 2.3.4, detect whether the quadrilateral area is tag mark if the line segment of fitting can constitute quadrangle
Label, and know
Not corresponding tag label；
The scale of step 2.4, the camera that basis has determined and tag label calculates position and the posture of tag label；
Step 3 judges whether robot returns to starting point, if not provided, robot continues mobile detection tag mark indoors
Label complete the detection to indoor all tag labels, by robot motion track and tag label position if returning to starting point
It is plotted on three-dimensional map.
In the present embodiment, the starting point that arbitrary point is robot is selected, is operated machine the movement of people by Wireless Keyboard, together
When determined by the information of IMU robot opposite starting point position.
By the delivery of video of camera shooting to processor, image is filtered, the processing such as denoising calculates the ladder of pixel
Size and gradient direction are spent, the pixel after cluster is intended to pixel classifications with weighted least-squares method with the method for cluster
Line segment is synthesized, edge line is attached and judges whether a group quadrangularly circuit, is judged whether it is in the quadrangle of composition
Apriltag label.
It such as detects Apriltag label, carries out identification tag ID, calculate label position and posture, and recorded.Together
When in conjunction with label in video position, derive the motion track of robot, the calculated track IMU corrected.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that：It still may be used
To modify to technical solution documented by previous embodiment, or some or all of the technical features are equal
Replacement；And these are modified or replaceed, model defined by the claims in the present invention that it does not separate the essence of the corresponding technical solution
It encloses.
Claims (5)
1. a kind of indoor mobile robot SLAM method based on tag label, it is characterised in that：Include the following steps：
Step 1 pastes tag label on wall indoors；
Step 2, selected indoor arbitrary point are that starting point control robot is posting the indoor moving of tag label, and passes through camera
Detect tag label, calculate label position and posture and simultaneously store, at the same by IMU (Inertial measurement unit, i.e.,
Inertial Measurement Unit) calculating robot position；
Step 3 judges whether robot returns to starting point, if not provided, robot continues mobile detection tag label indoors, such as
Fruit returns to starting point, then completes the detection to indoor all tag labels, robot motion track and tag label position are drawn
On three-dimensional map.
2. a kind of indoor mobile robot SLAM method based on tag label according to claim 1, it is characterised in that：
The tag tag size of stickup described in step 1 is identical, it can be shown that doors structure.
3. a kind of indoor mobile robot SLAM method based on tag label according to claim 1, it is characterised in that：
Robot described in step 2 includes monocular cam, the sensor including IMU, and the processor equipped with ROS operating system.
4. a kind of indoor mobile robot SLAM method based on tag label according to claim 1, it is characterised in that：
It is by the specific method of IMU calculating robot position described in step 2：
When robot camera detection is to tag label, position and the posture of robot are determined jointly in conjunction with tag label and IMU；
When robot camera can not detect tag label, position and the posture of robot are determined by IMU.
5. a kind of indoor mobile robot SLAM method based on tag label according to claim 1, it is characterised in that：
Camera detection tag label described in step 2, calculates label position and posture and the specific method stored is：
Step 2.1 demarcates camera with gridiron pattern method, obtains including the focal length of camera, radial distortion parameter
Internal reference；
Step 2.2 sets camera identification scale according to tag tag size；
Step 2.3, the video flowing obtained according to camera detect the Tag in identification image using image processing algorithm and indicate；
Step 2.3.1, the gradient magnitude and gradient direction of each pixel in image are calculated；
Step 2.3.2, using the method based on figure, the pixel with gradient-like direction and size is clustered；
Step 2.3.3, using weighted least-squares method, by the Pixel fit after cluster at line segment, and detect whether line segment is constituted
Quadrangle；
Step 2.3.4, detect whether the quadrilateral area is tag label if the line segment of fitting can constitute quadrangle, and
Identify corresponding tag label；
The scale of step 2.4, the camera that basis has determined and tag label calculates position and the posture of tag label.
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109655069A (en) * | 2019-02-03 | 2019-04-19 | 上海允登信息科技有限公司 | A kind of data center machine room robot navigation positioning system |
| CN109945871A (en) * | 2019-03-15 | 2019-06-28 | 中山大学 | A kind of communication bandwidth and the how unmanned platform synchronous superposition method under limited situation |
| CN110239677A (en) * | 2019-06-21 | 2019-09-17 | 华中科技大学 | A kind of unmanned plane autonomous classification target simultaneously drops to the method on the unmanned boat of movement |
| CN110388919A (en) * | 2019-07-30 | 2019-10-29 | 上海云扩信息科技有限公司 | Threedimensional model localization method in augmented reality based on characteristic pattern and inertia measurement |
| CN111540013A (en) * | 2020-04-22 | 2020-08-14 | 数字孪生(镇江)装备科技有限公司 | Indoor AGV (automatic guided vehicle) positioning method based on multi-camera vision slam |
| CN111693046A (en) * | 2019-03-13 | 2020-09-22 | 锥能机器人（上海）有限公司 | Robot system and robot navigation map building system and method |
| CN111735446A (en) * | 2020-07-09 | 2020-10-02 | 上海思岚科技有限公司 | Laser and visual positioning fusion method and device |
| CN112001352A (en) * | 2020-09-02 | 2020-11-27 | 山东大学 | Textile operation workbench identification and positioning method and device based on Apriltag |
| CN112419403A (en) * | 2020-11-30 | 2021-02-26 | 海南大学 | Indoor unmanned aerial vehicle positioning method based on two-dimensional code array |
| CN113246136A (en) * | 2021-06-07 | 2021-08-13 | 深圳市普渡科技有限公司 | Robot, map construction method, map construction device and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109655069A (en) * | 2019-02-03 | 2019-04-19 | 上海允登信息科技有限公司 | A kind of data center machine room robot navigation positioning system |
| CN111693046A (en) * | 2019-03-13 | 2020-09-22 | 锥能机器人（上海）有限公司 | Robot system and robot navigation map building system and method |
| CN109945871B (en) * | 2019-03-15 | 2021-03-02 | 中山大学 | Multi-unmanned platform synchronous positioning and map construction method under condition of limited communication bandwidth and distance |
| CN109945871A (en) * | 2019-03-15 | 2019-06-28 | 中山大学 | A kind of communication bandwidth and the how unmanned platform synchronous superposition method under limited situation |
| CN110239677A (en) * | 2019-06-21 | 2019-09-17 | 华中科技大学 | A kind of unmanned plane autonomous classification target simultaneously drops to the method on the unmanned boat of movement |
| CN110388919A (en) * | 2019-07-30 | 2019-10-29 | 上海云扩信息科技有限公司 | Threedimensional model localization method in augmented reality based on characteristic pattern and inertia measurement |
| CN110388919B (en) * | 2019-07-30 | 2023-05-23 | 上海云扩信息科技有限公司 | Three-dimensional model positioning method based on feature map and inertial measurement in augmented reality |
| CN111540013A (en) * | 2020-04-22 | 2020-08-14 | 数字孪生(镇江)装备科技有限公司 | Indoor AGV (automatic guided vehicle) positioning method based on multi-camera vision slam |
| CN111540013B (en) * | 2020-04-22 | 2023-08-22 | 深圳市启灵图像科技有限公司 | Indoor AGV trolley positioning method based on multi-camera visual slam |
| CN111735446A (en) * | 2020-07-09 | 2020-10-02 | 上海思岚科技有限公司 | Laser and visual positioning fusion method and device |
| CN111735446B (en) * | 2020-07-09 | 2020-11-13 | 上海思岚科技有限公司 | Laser and visual positioning fusion method and device |
| CN112001352A (en) * | 2020-09-02 | 2020-11-27 | 山东大学 | Textile operation workbench identification and positioning method and device based on Apriltag |
| CN112419403A (en) * | 2020-11-30 | 2021-02-26 | 海南大学 | Indoor unmanned aerial vehicle positioning method based on two-dimensional code array |
| CN113246136A (en) * | 2021-06-07 | 2021-08-13 | 深圳市普渡科技有限公司 | Robot, map construction method, map construction device and storage medium |
| CN113246136B (en) * | 2021-06-07 | 2021-11-16 | 深圳市普渡科技有限公司 | Robot, map construction method, map construction device and storage medium |
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