CN112219087A - 位姿预测方法、地图构建方法、可移动平台及存储介质 - Google Patents

位姿预测方法、地图构建方法、可移动平台及存储介质 Download PDF

Info

Publication number
CN112219087A
CN112219087A CN201980033455.4A CN201980033455A CN112219087A CN 112219087 A CN112219087 A CN 112219087A CN 201980033455 A CN201980033455 A CN 201980033455A CN 112219087 A CN112219087 A CN 112219087A
Authority
CN
China
Prior art keywords
image frame
current image
encoder
map
frame
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.)
Pending
Application number
CN201980033455.4A
Other languages
English (en)
Chinese (zh)
Inventor
朱张豪
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
Original Assignee
SZ DJI Technology 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 SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Publication of CN112219087A publication Critical patent/CN112219087A/zh
Pending legal-status Critical Current

Links

Images

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
    • G01C21/10—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
    • 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
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • 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
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Image Analysis (AREA)
CN201980033455.4A 2019-08-30 2019-08-30 位姿预测方法、地图构建方法、可移动平台及存储介质 Pending CN112219087A (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2019/103599 WO2021035669A1 (fr) 2019-08-30 2019-08-30 Procédé de prévision de pose, procédé de construction de carte, plateforme mobile et support de stockage

Publications (1)

Publication Number Publication Date
CN112219087A true CN112219087A (zh) 2021-01-12

Family

ID=74058715

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201980033455.4A Pending CN112219087A (zh) 2019-08-30 2019-08-30 位姿预测方法、地图构建方法、可移动平台及存储介质

Country Status (2)

Country Link
CN (1) CN112219087A (fr)
WO (1) WO2021035669A1 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112991515A (zh) * 2021-02-26 2021-06-18 山东英信计算机技术有限公司 一种三维重建方法、装置及相关设备
CN113052855A (zh) * 2021-02-26 2021-06-29 苏州迈思捷智能科技有限公司 一种基于视觉-imu-轮速计融合的语义slam方法
CN113094462A (zh) * 2021-04-30 2021-07-09 腾讯科技（深圳）有限公司 数据处理方法和装置及存储介质
CN113223161A (zh) * 2021-04-07 2021-08-06 武汉大学 一种基于imu和轮速计紧耦合的鲁棒全景slam***和方法
CN113516692A (zh) * 2021-05-18 2021-10-19 上海汽车集团股份有限公司 一种多传感器融合的slam方法和装置
CN113658260A (zh) * 2021-07-12 2021-11-16 南方科技大学 机器人位姿计算方法、***、机器人及存储介质

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112819744B (zh) * 2021-02-26 2024-05-14 中国人民解放军93114部队 Gnss和视觉slam融合的轨迹测量方法和装置
CN113379803B (zh) * 2021-07-07 2024-02-02 上海谦尊升网络科技有限公司 一种基于视觉图像的定位方法
CN113587934B (zh) * 2021-07-30 2024-03-19 深圳市普渡科技有限公司 一种机器人、室内定位方法、装置和可读存储介质
CN113763560B (zh) * 2021-08-02 2024-02-09 纵目科技（上海）股份有限公司 点云数据的生成方法、***、设备及计算机可读存储介质
CN113763548B (zh) * 2021-08-17 2024-02-27 同济大学 基于视觉-激光雷达耦合的贫纹理隧洞建模方法及***
CN113850293B (zh) * 2021-08-20 2024-06-18 北京大学 基于多源数据和方向先验联合优化的定位方法
CN113781563B (zh) * 2021-09-14 2023-10-24 中国民航大学 一种基于深度学习的移动机器人回环检测方法
CN114088081B (zh) * 2021-10-10 2024-05-28 北京工业大学 一种基于多段联合优化的用于精确定位的地图构建方法
CN114279456B (zh) * 2021-12-06 2024-04-30 纵目科技（上海）股份有限公司 图片构建/车辆定位方法、***、终端及计算机存储介质
CN114255323A (zh) * 2021-12-22 2022-03-29 深圳市普渡科技有限公司 机器人、地图构建方法、装置和可读存储介质
CN115065827A (zh) * 2022-06-30 2022-09-16 维沃移动通信有限公司 视频编码方法、装置、电子设备及介质
CN115930971B (zh) * 2023-02-01 2023-09-19 七腾机器人有限公司 一种机器人定位与建图的数据融合处理方法
CN116252581B (zh) * 2023-03-15 2024-01-16 吉林大学 直线行驶工况车身垂向及俯仰运动信息估算***及方法
CN118135006B (zh) * 2024-05-07 2024-07-23 武汉理工大学 基于图像共视特征点的水下机器人姿态估计方法及装置

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104374395A (zh) * 2014-03-31 2015-02-25 南京邮电大学 基于图的视觉slam方法
CN106679648A (zh) * 2016-12-08 2017-05-17 东南大学 一种基于遗传算法的视觉惯性组合的slam方法
US20170337690A1 (en) * 2016-05-20 2017-11-23 Qualcomm Incorporated Predictor-corrector based pose detection
CN108921898A (zh) * 2018-06-28 2018-11-30 北京旷视科技有限公司 摄像机位姿确定方法、装置、电子设备和计算机可读介质
CN109583290A (zh) * 2017-09-28 2019-04-05 百度（美国）有限责任公司 使用运动相关数据改进视觉特征检测的***和方法
CN109671120A (zh) * 2018-11-08 2019-04-23 南京华捷艾米软件科技有限公司 一种基于轮式编码器的单目slam初始化方法及***
CN110044354A (zh) * 2019-03-28 2019-07-23 东南大学 一种双目视觉室内定位与建图方法及装置
WO2019140745A1 (fr) * 2018-01-16 2019-07-25 广东省智能制造研究所 Procédé de positionnement de robot et dispositif
CN110160527A (zh) * 2019-05-06 2019-08-23 安徽红蝠智能科技有限公司 一种移动机器人导航方法与装置
CN110706248A (zh) * 2019-08-20 2020-01-17 广东工业大学 一种基于slam的视觉感知建图算法及移动机器人
CN115131420A (zh) * 2022-06-24 2022-09-30 武汉依迅北斗时空技术股份有限公司 基于关键帧优化的视觉slam方法及装置

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106997688B (zh) * 2017-06-08 2020-03-24 重庆大学 基于多传感器信息融合的停车场停车位检测方法

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104374395A (zh) * 2014-03-31 2015-02-25 南京邮电大学 基于图的视觉slam方法
US20170337690A1 (en) * 2016-05-20 2017-11-23 Qualcomm Incorporated Predictor-corrector based pose detection
CN106679648A (zh) * 2016-12-08 2017-05-17 东南大学 一种基于遗传算法的视觉惯性组合的slam方法
CN109583290A (zh) * 2017-09-28 2019-04-05 百度（美国）有限责任公司 使用运动相关数据改进视觉特征检测的***和方法
WO2019140745A1 (fr) * 2018-01-16 2019-07-25 广东省智能制造研究所 Procédé de positionnement de robot et dispositif
CN108921898A (zh) * 2018-06-28 2018-11-30 北京旷视科技有限公司 摄像机位姿确定方法、装置、电子设备和计算机可读介质
CN109671120A (zh) * 2018-11-08 2019-04-23 南京华捷艾米软件科技有限公司 一种基于轮式编码器的单目slam初始化方法及***
CN110044354A (zh) * 2019-03-28 2019-07-23 东南大学 一种双目视觉室内定位与建图方法及装置
CN110160527A (zh) * 2019-05-06 2019-08-23 安徽红蝠智能科技有限公司 一种移动机器人导航方法与装置
CN110706248A (zh) * 2019-08-20 2020-01-17 广东工业大学 一种基于slam的视觉感知建图算法及移动机器人
CN115131420A (zh) * 2022-06-24 2022-09-30 武汉依迅北斗时空技术股份有限公司 基于关键帧优化的视觉slam方法及装置

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112991515A (zh) * 2021-02-26 2021-06-18 山东英信计算机技术有限公司 一种三维重建方法、装置及相关设备
CN113052855A (zh) * 2021-02-26 2021-06-29 苏州迈思捷智能科技有限公司 一种基于视觉-imu-轮速计融合的语义slam方法
CN113052855B (zh) * 2021-02-26 2021-11-02 苏州迈思捷智能科技有限公司 一种基于视觉-imu-轮速计融合的语义slam方法
CN113223161A (zh) * 2021-04-07 2021-08-06 武汉大学 一种基于imu和轮速计紧耦合的鲁棒全景slam***和方法
CN113094462A (zh) * 2021-04-30 2021-07-09 腾讯科技（深圳）有限公司 数据处理方法和装置及存储介质
CN113516692A (zh) * 2021-05-18 2021-10-19 上海汽车集团股份有限公司 一种多传感器融合的slam方法和装置
CN113658260A (zh) * 2021-07-12 2021-11-16 南方科技大学 机器人位姿计算方法、***、机器人及存储介质

Also Published As

Publication number Publication date
WO2021035669A1 (fr) 2021-03-04

Similar Documents

Publication Publication Date Title
CN112219087A (zh) 位姿预测方法、地图构建方法、可移动平台及存储介质
US11668571B2 (en) Simultaneous localization and mapping (SLAM) using dual event cameras
CN109084732B (zh) 定位与导航方法、装置及处理设备
CN111258313B (zh) 多传感器融合slam***及机器人
CN111561923B (zh) 基于多传感器融合的slam制图方法、***
CN109084746B (zh) 用于具有辅助传感器的自主平台引导***的单目模式
CN109307508B (zh) 一种基于多关键帧的全景惯导slam方法
CN107990899B (zh) 一种基于slam的定位方法和***
JP5832341B2 (ja) 動画処理装置、動画処理方法および動画処理用のプログラム
CN112634451B (zh) 一种融合多传感器的室外大场景三维建图方法
CN109506642B (zh) 一种机器人多相机视觉惯性实时定位方法及装置
KR101725060B1 (ko) 그래디언트 기반 특징점을 이용한 이동 로봇의 위치를 인식하기 위한 장치 및 그 방법
KR102427921B1 (ko) 실시간 맵핑 및 로컬리제이션을 위한 장치 및 방법
US10109104B2 (en) Generation of 3D models of an environment
CN112304307A (zh) 一种基于多传感器融合的定位方法、装置和存储介质
CN110726406A (zh) 一种改进的非线性优化单目惯导slam的方法
CN108700946A (zh) 用于并行测距和建图的故障检测和恢复的***和方法
CN112802096A (zh) 实时定位和建图的实现装置和方法
CN111623773B (zh) 一种基于鱼眼视觉和惯性测量的目标定位方法及装置
CN114429432B (zh) 一种多源信息分层融合方法、装置及存储介质
Huai et al. Real-time large scale 3D reconstruction by fusing Kinect and IMU data
CN112731503A (zh) 一种基于前端紧耦合的位姿估计方法及***
Xia et al. YOLO-Based Semantic Segmentation for Dynamic Removal in Visual-Inertial SLAM
Akay et al. Camera Auto-calibration for Planar Aerial Imagery, Supported by Camera Metadata
CN117451052A (zh) 基于视觉和轮速计的定位方法、装置、设备及存储介质

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
WD01 Invention patent application deemed withdrawn after publication
WD01 Invention patent application deemed withdrawn after publication

Application publication date: 20210112