CN113701766A - 一种机器人地图的构建方法、机器人的定位方法及装置 - Google Patents
一种机器人地图的构建方法、机器人的定位方法及装置 Download PDFInfo
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- CN113701766A CN113701766A CN202010427965.4A CN202010427965A CN113701766A CN 113701766 A CN113701766 A CN 113701766A CN 202010427965 A CN202010427965 A CN 202010427965A CN 113701766 A CN113701766 A CN 113701766A
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- 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
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- G—PHYSICS
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- 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
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Citations (11)
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WO2020233724A1 (zh) * | 2019-05-23 | 2020-11-26 | 全球能源互联网研究院有限公司 | 一种基于视觉slam的电网作业环境地图的构建方法及*** |
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2020
- 2020-05-20 CN CN202010427965.4A patent/CN113701766A/zh active Pending
Patent Citations (11)
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CN105856230A (zh) * | 2016-05-06 | 2016-08-17 | 简燕梅 | 一种可提高机器人位姿一致性的orb关键帧闭环检测slam方法 |
US20190234746A1 (en) * | 2016-09-14 | 2019-08-01 | Zhejiang University | Method for simultaneous localization and mapping |
CN109558879A (zh) * | 2017-09-22 | 2019-04-02 | 华为技术有限公司 | 一种基于点线特征的视觉slam方法和装置 |
CN108090958A (zh) * | 2017-12-06 | 2018-05-29 | 上海阅面网络科技有限公司 | 一种机器人同步定位和地图构建方法和*** |
US20200334841A1 (en) * | 2018-09-07 | 2020-10-22 | Huawei Technologies Co., Ltd. | Device and method for performing simultaneous localization and mapping |
CN109579840A (zh) * | 2018-10-25 | 2019-04-05 | 中国科学院上海微***与信息技术研究所 | 一种点线特征融合的紧耦合双目视觉惯性slam方法 |
CN110125928A (zh) * | 2019-03-27 | 2019-08-16 | 浙江工业大学 | 一种基于前后帧进行特征匹配的双目惯导slam*** |
WO2020233724A1 (zh) * | 2019-05-23 | 2020-11-26 | 全球能源互联网研究院有限公司 | 一种基于视觉slam的电网作业环境地图的构建方法及*** |
CN111121767A (zh) * | 2019-12-18 | 2020-05-08 | 南京理工大学 | 一种融合gps的机器人视觉惯导组合定位方法 |
CN111795704A (zh) * | 2020-06-30 | 2020-10-20 | 杭州海康机器人技术有限公司 | 一种视觉点云地图的构建方法、装置 |
CN112197770A (zh) * | 2020-12-02 | 2021-01-08 | 北京欣奕华数字科技有限公司 | 一种机器人的定位方法及其定位装置 |
Non-Patent Citations (5)
Title |
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HAOMIN LIU: "Robust Keyframe-based Monocular SLAM for Augmented Reality", 《016 IEEE INTERNATIONAL SYMPOSIUM ON MIXED AND AUGMENTED REALITY (ISMAR)》, 15 December 2016 (2016-12-15), pages 1 - 10 * |
任渊: "基于视觉和惯性传感器的机器人自主导航算法", 《中国优秀硕士学位论文全文数据库信息科技辑》, 15 January 2020 (2020-01-15) * |
刘星: "手机视觉与惯性融合的松耦合滤波算法", 《测绘通报》, no. 02, 25 February 2020 (2020-02-25), pages 61 - 65 * |
卫文乐: "利用惯导测量单元确定关键帧的实时SLAM算法", 《计算机应用》, vol. 40, no. 04, 10 April 2020 (2020-04-10), pages 1157 - 1163 * |
张玉龙: "基于关键帧的视觉惯性SLAM算法", 《中国优秀硕士学位论文全文数据库信息科技辑》, 15 April 2019 (2019-04-15) * |
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Inventor after: Zhang Mi Inventor after: Han Songshan Inventor after: Wang Shihan Inventor after: Liu Xing Inventor after: Hu Mengyu Inventor after: Zhao Jiayang Inventor before: Han Songshan Inventor before: Wang Shihan Inventor before: Liu Xing Inventor before: Hu Mengyu Inventor before: Zhang Mi Inventor before: Zhao Jiayang |
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